Page 2 Updated Section A.2 & A.3: Added Data Type description and error code description. Added Section 1.3: Added the overview of Delta motion instructions library Updated Section 2.3.1.12: Added lrDeceleration and lrJerk descriptions Updated Section 2.3.2.15: Added and modified function block parameters Updated Section 2.3.2.21: Added descriptions of Harmonic2_Direct and...
Page 3 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Rev i s i o n Hi s t o r y Version Revision Date...
Page 4: Table Of Contents
Introductions of Motion Control....................3 1.1.1 Basic Knowledge of Motion Control Instructions ..............3 Categories of Motion Control Instructions ................6 Overview of Delta Motion Instructions Library ..............7 Motion Control Instruction ......................8 Motion Control Instructions ....................9 2.1.1 MC_Home ..........................9 2.1.2...
Page 5 2.2.14 MC_TouchProbe ....................... 143 2.2.15 MC_AbortTrigger ....................... 149 2.2.16 MC_DigitalCamSwitch ....................... 153 2.2.17 SMC_BacklashCompensation ................... 160 Delta Motion Control Instructions ..................166 2.3.1 Motion Control Instructions ....................166 2.3.2 Administrative Instructions ....................279 2.3.3 Positioning Axis Instructions ....................401 2.3.4 Tension Control .........................
Page 6: Preface
This manual introduces PLCOpen standard motion control instructions and Delta-defined instructions including single-axis, multi-axes instructions, and motion control applications. Ensure that you fully understand the configuration and operations of the AX series motion control system and use the AX series Motion Controller CPU correctly.
Page 7: Introduction To Motion Control
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 1 Introduction to Motion Control...
Page 8: Introductions Of Motion Control
Motion control instructions are defined as function blocks (FB) and are used in the program for various control purposes. The motion control (MC) instructions are developed based on the specifications of PLCopen* motion control function blocks. In addition to the PLCopen-based instructions, Codesys also provides Delta-defined function blocks for users to achieve complete motion control applications.
Page 9 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 1 Multi-execution of motion control instructions means that multiple instructions on the same axis are run in the same task execution period.
Page 10 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 1 Single-axis Function Block ...
Page 11: Categories Of Motion Control Instructions
Motion “MC_”: PLCopen motion control Torque control on a single axis Single-axis motion instructions control instructions Synchronized control on a single axis “DMC_”: Delta-defined motion control instructions Administrative functions on a single Administrative axis Performing coordinated movement of Motion Multi-axis coordinated control...
Page 12: Overview Of Delta Motion Instructions Library
Codesys Softmotion library in AX series motion control CPUs. Delta's motion instructions DL_MotionControl and DL_MotionControlLight are derived from Codesys Softmotion. They provide users with convenient instructions for different occasions. The following tables list the version compatibility of Delta's motion instructions library and Codesys Softmotion instruction library: Delta Motion Library SM3_Basic V4.6.1.0...
Page 13: Motion Control Instruction
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Motion Control Instruction...
Page 14: Motion Control Instructions
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1 Motion Control Instructions Motion control instructions are generally used to control motors to perform specific movement after the specified instruction being run.
Page 15 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 16 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 •...
Page 17 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Use MC_Home with the following parameters: ...
Page 18: Mc_Stop
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.2 MC_Stop Supported Devices: AX-308E, AX-8, AX-364E ...
Page 19 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for shifting to True Timing for shifting to False...
Page 20 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 21: Mc_Halt
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.3 MC_Halt Supported Devices: AX-308E, AX-8, AX-364E ...
Page 22 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 *Note: SMC_ERROR: Enumeration (Enum) Output Updating Time ...
Page 23 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Troubleshooting ...
Page 24 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Velocity MC_MoveVelocity Execute...
Page 25: Mc_Moveabsolute
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.4 MC_MoveAbsolute Supported Devices: AX-308E, AX-8, AX-364E ...
Page 26 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 *Note: MC_Direction: Enumeration (Enum) Outputs ...
Page 27 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Execute Done Busy...
Page 28 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Direction: 0(shortest), 3(fastest) Direction: 0(shortest), 3(fastest) Current position: 315°...
Page 29 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 30 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 If Execute is True when MC_MoveAbsolute_0 block is running, the axis will move towards the target position.
Page 31: Mc_Moverelative
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.5 MC_MoveRelative Supported Devices: AX-308E, AX-8, AX-364E ...
Page 32 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 33 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value Name Function...
Page 34 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When Execute changes to True, MC_MoveRelative drives the axis to the target position.
Page 35: Mc_Moveadditive
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.6 MC_MoveAdditive Supported Devices: AX-308E, AX-8, AX-364E ...
Page 36 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 37 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 38 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When Execute changes to True, MC_MoveRelative drives the axis to the target position.
Page 39: Mc_Movesuperimposed
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.7 MC_MoveSuperImposed Supported Devices: AX-308E, AX-8, AX-364E ...
Page 40 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 True when the superimposed Done BOOL...
Page 41 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value Name Function...
Page 42 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When Execute of MC_MoveVelocity changes to True, the specific axis starts to move towards the target velocity ...
Page 43: Mc_Camin
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.8 MC_CamIn Supported Devices: AX-308E, AX-8, AX-364E ...
Page 44 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Timing to Take Name Function Data Type...
Page 45 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Name Function Data Type (Default Value)
Page 46 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Output Range Name Function...
Page 47 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Execute InSync Busy...
Page 48 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 The following formula is generated from the figure above: ...
Page 49 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Absolute mode on master axis (MasterAbsolute = true) Absolute mode on slave axis (SlaveAbsolute = true) Absolute mode (StartMode = 0)
Page 50 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Ramp in positive, Ramp in negative (StartMode = 3, 4) With a rotary/modulo slave axis, ramp_in_pos compensates only in the positive direction and ramp_in_neg in the negative direction.
Page 51 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Execute InSync Busy...
Page 52 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Master relative mode (MasterAbsolute = false)/ Slave relative mode (SlaveAbsolute = false) Absolute/ Relative mode (StartMode = 0, 1) Master-slave meshing position: The current position of master axis will be the start position as well as the zero...
Page 53 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 If the master and slave axis are under absolute mode, the start position of master and slave axis will be zero ...
Page 54 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Condition 1: When MasterScaling and SlaveScaling are set to 1 with no Compensations, the actual cam profile will be same as preplanned.
Page 55 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Condition 1: When MasterScaling=1, SlaveScaling=1, MasterCompensation=0 and SlaveCompensation=60, the slave position relative to the master position will be added with 60 based on the preplanned position.
Page 56 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Set hysteresis intervals of tappet to avoid vibration in axes and encoders, which may lead to wrong switching ...
Page 57 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 58 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Velocity Master Slave...
Page 59 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 60: Mc_Camout
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.9 MC_CamOut Supported Devices: AX-308E, AX-8, AX-364E ...
Page 61 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for Shifting to True Timing for Shifting to False...
Page 62 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 63 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Velocity Master Slave...
Page 64: Mc_Movevelocity
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.10 MC_MoveVelocity Supported Devices: AX-308E, AX-8, AX-364E ...
Page 65 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 66 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 (Default Value) Specify the When Execute turns to True and Busy is...
Page 67 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 68 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When Execute changes to True, the first MC_MoveVelocity controls the axis to reach the specified target velocity ...
Page 69: Mc_Positionprofile
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.11 MC_PositionProfile Supported Devices: AX-308E, AX-8, AX-364E ...
Page 70 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 71 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 MC_TP_REF: Structure(STRUCT).
Page 72 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 73: Mc_Velocityprofile
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.12 MC_VelocityProfile Supported Devices: AX-308E, AX-8, AX-364E ...
Page 74 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 75 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 *Note: AXIS_REF_SM3(FB): Every function block contains this variable, which works as the starting program for function blocks.
Page 76 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 77: Mc_Accelerationprofile
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.13 MC_AccelerationProfile Supported Devices: AX-308E, AX-8, AX-364E ...
Page 78 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 79 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 axis.
Page 80 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 81: Mc_Jog
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.14 MC_Jog Supported Devices: AX-308E, AX-8, AX-364E ...
Page 82 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 83 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 The following description is with reference to the above figure: ...
Page 84: Mc_Gearin
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.15 MC_GearIn Supported Devices: AX-308E, AX-8, AX-364E ...
Page 85 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 86 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value Name Function...
Page 87 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Velocity 1000 Master...
Page 88: Mc_Gearout
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.16 MC_GearOut Supported Devices: AX-308E, AX-8, AX-364E ...
Page 89 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for Shifting to True Timing for Shifting to False...
Page 90 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Troubleshooting ...
Page 91 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When Execute of MC_MoveVelocity changes to True, master axis starts to move.
Page 92 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 If the velocity of salve axis reaches doubled master axis’...
Page 93: Mc_Gearinpos
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.17 MC_GearInPos Supported Devices: AX-308E, AX-8, AX-364E ...
Page 94 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 *Note: A negative gear ratio will make the master and slave axis move in an opposite direction.
Page 95 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 96 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 97 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When Execute of MC_MoveVelocity turns to True, the master axis starts to move.
Page 98 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When both master and slave axis reach the synchronization position, OutputsInSync of MC_GearInPos turns to ...
Page 99: Mc_Phasing
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.1.18 MC_Phasing Supported Devices: AX-308E, AX-8, AX-364E ...
Page 100 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 101 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 102 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 The following example describes the corresponding motion state and path throughout the gear operation.
Page 103 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When the slave axis reaches the specified value, Done of MC_Phasing turns to True and the Busy output is reset.
Page 104: Administrative Motion Control Instructions
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.2 Administrative Motion Control Instructions Administrative motion control instructions refer to the actions of configuring corresponding settings and retrieving related information made for drivers, which will not cause actual displacement of motors.
Page 105 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 106 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value Name Function...
Page 107 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 108 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Example 2: Continue with example 1.
Page 109: Mc_Setposition
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.2.2 MC_SetPosition Supported Devices: AX-308E, AX-8, AX-364E ...
Page 110 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for Shifting to True Timing for Shifting to False...
Page 111 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 112 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 113 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 114: Mc_Readparameter
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.2.3 MC_ReadParameter Supported Devices: AX-308E, AX-8, AX-364E ...
Page 115 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for Shifting to True Timing for Shifting to False...
Page 116 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Code) to address the problem.
Page 117: Mc_Writeparameter
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.2.4 MC_WriteParameter Supported Devices: AX-308E, AX-8, AX-364E ...
Page 118 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When the value is written successfully.
Page 119 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Example ...
Page 120: Mc_Readboolparameter
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.2.5 MC_ReadBoolParameter Supported Devices: AX-308E, AX-8, AX-364E ...
Page 121 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for Shifting to True Timing for Shifting to False...
Page 122 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 If an error occurs during the execution of the instruction, Error will change to True.
Page 123: Mc_Writeboolparameter
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.2.6 MC_WriteBoolParameter Supported Devices: AX-308E, AX-8, AX-364E ...
Page 124 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Output Updating Time ...
Page 125 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 to address the problem.
Page 126: Mc_Readactualposition
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.2.7 MC_ReadActualPosition Supported Devices: AX-308E, AX-8, AX-364E ...
Page 127 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for Shifting to True Timing for Shifting to False...
Page 128 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Troubleshooting ...
Page 129: Mc_Readactualvelocity
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.2.8 MC_ReadActualVelocity Supported Devices: AX-308E, AX-8, AX-364E ...
Page 130 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for Shifting to True Timing for Shifting to False...
Page 131 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Enable Valid Busy...
Page 132: Mc_Readactualtorque
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.2.9 MC_ReadActualTorque Supported Devices: AX-308E, AX-8, AX-364E ...
Page 133: Mc_Reset
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for Shifting to True Timing for Shifting to False...
Page 134 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 FB/FC Instruction Graphic Expression...
Page 135 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 136: Mc_Readstatus
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.2.11 MC_ReadStatus Supported Devices: AX-308E, AX-8, AX-364E ...
Page 137 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Name Function Data Type Output Range (Default Value) code descriptions.
Page 138 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for Shifting to True Timing for Shifting to False...
Page 139 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 140 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 MC_MoveAbsolute Execute Done...
Page 141 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.2.12 MC_ReadAxisError Supported Devices: AX-308E, AX-8, AX-364E ...
Page 142 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 143 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 OutputsSWEndSwitchActive will shift to True once the axis reaches the software limit.
Page 144 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.2.13 MC_CamTableSelect Supported Devices: AX-308E, AX-8, AX-364E ...
Page 145 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Name Function Data Type Output Range (Default Value) BOOL Error...
Page 146 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 147 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Position Master Slave...
Page 148 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.2.14 MC_TouchProbe Supported Devices: AX-308E, AX-8, AX-364E ...
Page 149 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Name Function Data Type Output Range (Default Value) Record the error code when an error occurs.
Page 150 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 3: Touch Probe 2, falling edge (-1) True: Latching is done in drive...
Page 151  SMC_TP_COULDNT_SET_WINDOW(401) will be reported by the function block. (Delta ASDA-A2-E has not yet supported WindowsOnly function.) Window Mask setting  You can observe the results of different window mask settings when the instruction is used for rotary/modulo axes ...
Page 152 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 153 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Trigger signal is from DI13 of CNY extension DI connector.
Page 154 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.2.15 MC_AbortTrigger Supported Devices: AX-308E, AX-8, AX-364E ...
Page 155 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for Shifting to True Timing for Shifting to False...
Page 156 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 By setting Axis and TriggerInput for this instruction you can define the touch probe operation to abort.
Page 157 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 of SMC_AT_TRIGGERNOTOCCUPIED (410) will be reported by MC_AbortTrigger.
Page 158 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.2.16 MC_DigitalCamSwitch Supported Devices: AX-308E, AX-8, AX-364E ...
Page 159 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 160 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 blocks. MC_CAMSWITCH_REF: Structure (STRUCT) Setting Value Name Function...
Page 161 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 MC_CAMSWITCH_TR specifies the positions of tappets.
Page 162 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Parameter Type Switch1...
Page 163 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 164 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 165 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.2.17 SMC_BacklashCompensation Supported Devices: AX-308E, AX-8, AX-364E ...
Page 166 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value Name Function...
Page 167 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 168 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Function  SMC_BacklashCompensation can be used to compensate for the backlash of drive belt devices or the transmission ...
Page 169 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 The Initial State of the Master Compensation Mode Behavior Pattern...
Page 170 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Axis Positon Master Slave...
Page 171 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3 Delta Motion Control Instructions 2.3.1 Motion Control Instructions Motion instructions generally refer to the ability to control the motor to move after the instruction is run.
Page 172 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Name Function Data Type Timing to Take Effect...
Page 173 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 *Note: DMC_ERROR: Enumeration (ENUM) Output Update Timing ...
Page 174 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When the DMC_TorqueControl instruction is run, 0x6071 (Target Torque), 0x6077 (Torque actual value), 0x6060 ...
Page 175 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Torque Velocity 200000...
Page 176 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.2 DMC_VelocityControl Supported Devices: AX-308E, AX-364E ...
Page 177 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Name Function Data Type Timing to Take Effect...
Page 178 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for shifting to True Timing for shifting to False...
Page 179 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Troubleshooting ...
Page 180 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When bEnable of DMC_VelocityControl_0 changes to True, the instruction controls the axis to reach the ...
Page 181 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.3 DMC_MoveLinearAbsolute Supported Devices: AX-308E, AX-364E ...
Page 182 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Name Function Data Type Timing to Take Effect...
Page 183 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Output Range Value Name Function...
Page 184 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 185 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When moveabs_exe (bExecute) changes to True, DMC_MoveLinearAbsolute starts to perform the absolute linear ...
Page 186 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.4 DMC_MoveLinearRelative Supported Devices: AX-308E, AX-364E ...
Page 187 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Name Function Data Type Timing to Take Effect...
Page 188 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Output Range Value (Default Name Function...
Page 189 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 190 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When movrel_exe (bExecute) changes to True, DMC_GroupRelLinear starts to perform the relative linear interpolation ...
Page 191 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.5 DMC_MoveCircularAbsolute Supported Devices: AX-308E, AX-364E ...
Page 192 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value Name Function...
Page 193 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Name Function Data Type Timing to Take Effect...
Page 194 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Output Update Timing ...
Page 195 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 196 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 dwSpiralTurrns Troubleshooting ...
Page 197 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 1 9 2...
Page 198 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When cirabs_exe (bExecute) changes to True, DMC_MoveCircularAbsolute performs the absolute positioning ...
Page 199 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.6 DMC_MoveCircularRelative Supported Devices: AX-308E, AX-364E ...
Page 200 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Name Function Data Type Timing to Take Effect...
Page 201 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Name Function Data Type Timing to Take Effect...
Page 202 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Output Range Value (Default Name Function...
Page 203 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 204 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Troubleshooting ...
Page 205 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When cirrel_exe (bExecute) changes to True, DMC_MoveCircularRelative performs the relative positioning ...
Page 206 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.7 DMC_GroupStop Supported Devices: AX-308E, AX-364E ...
Page 207 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 208 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 209 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 210 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When bExecute of DMC_GroupStop changes to True, bCommandAboted of MoveLinearRelative changes to ...
Page 211 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 FB/FC Instruction Graphic Expression ST Language DMC_GroupHalt_instance ( AxisGroup : =,...
Page 212 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Output range Name Function...
Page 213 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 214 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 215 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When bExecute of DMC_GroupHalt changes to True, bCommandAboted of DMC_MoveLinearRelative ...
Page 216 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.9 DMC_Home_P Supported Devices: AX-308E, AX-364E ...
Page 217 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 218 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Troubleshooting ...
Page 219 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 After DMC_Home_P has started, the pulse axis Pulse_Output_Axis_0 will perform the homing motion ...
Page 220 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2 1 5...
Page 221 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.10 DMC_ImmediateStop_P Supported Devices: AX-308E, AX-364E ...
Page 222 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for shifting to True Timing for shifting to False...
Page 223 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.11 DMC_MoveVelocityStopByPos Supported Devices: AX-308E, AX-364E ...
Page 224 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Function Data Type Timing to Take Effect Name...
Page 225 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When bExecute turns to False.
Page 226 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 RoundPhase &...
Page 227 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Programming Examples ...
Page 228 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Programming Example 2: ...
Page 229 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.12 DMC_GroupInterrupt Supported Devices: AX-308E, AX-364E ...
Page 230 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 231 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 This instruction can decelerate and stop the motion of axis groups other than DMC_GroupStop.
Page 232 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 233 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.13 DMC_GroupContinue Supported Devices: AX-308E, AX-364E ...
Page 234 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 235 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 There is recorded Continue data (the axis group variable AxisGroup.bContinueDataWriten is True).
Page 236 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.14 DMC_MoveLink Supported Devices: AX-308E, AX-364E ...
Page 237 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 0: COMMANDEEXECUTION 1: TRIGGERDETECTION Synchronization start DMC_LINKOP When bExecute turns...
Page 238 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 239 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 240 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2 3 5...
Page 241 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Acceleration Section ...
Page 242 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 If an error occurs during the execution of the instruction, you can refer to the content of ErrorID (error code) to confirm ...
Page 243 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 244 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 245 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.15 DMC_MoveFeed Supported Devices: AX-308E, AX-364E ...
Page 246 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Data Timing to Take Name Function Setting Value (Default Value)
Page 247 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Output range value (Default Name Function...
Page 248 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 249 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 bExecute Trigger bDone...
Page 250 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 In the linear axis mode, the Windows Mask Setting Range value must be FirstPosition <...
Page 251 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 After DMC_MoveFeed has started, the axis starts to run with parameters such as target position, velocity, acceleration and motion mode input by the Function block, and waits for the Trigger signal of the controller mode.
Page 252 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 253 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.16 DMC_GroupReadSetPosition Supported Devices: AX-308E, AX-364E ...
Page 254 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Output range value Name Function...
Page 255 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Specify the DMC_AXIS_ When bEnable turns to True and bBusy AxisGroup DMC_AXIS_GROUP_REF...
Page 256 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.17 DMC_GroupReadActPosition Supported Devices: AX-308E, AX-364E ...
Page 257 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Output range value (Default Name Function...
Page 258 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 axis group. GROUP_REF is False.
Page 259 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.18 DMC_GroupJog Supported Devices: AX-308E, AX-364E ...
Page 260 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value (Default Timing to Take Name...
Page 261 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for shifting to True Timing for shifting to False...
Page 262 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Modifying the CoordSystem breaks jogging in all directions.
Page 263 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 1000 Axis_1_Position 2000...
Page 264 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.19 DMC_MoveDirectAbsolute Supported Devices: AX-308E, AX-364E ...
Page 265 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value (Default Name Function...
Page 266 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Outputs ...
Page 267 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 268 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2 - 2 6 3...
Page 269 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When DMC_GroupPower bRegulatorOn is True, the single-axis status switches from Disabled to Standstill.
Page 270 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.20 DMC_MoveDirectRelative Supported Devices: AX-308E, AX-364E ...
Page 271 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value (Default Name Function...
Page 272 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Outputs ...
Page 273 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 274 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 DMC_MoveModulo ST Language DMC_MoveModulo_instance(...
Page 275 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value (Default Timing to Take Name...
Page 276 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 277 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Absolute position lags behind the current position for smaller than 0.5 modulo: move forward to the ...
Page 278 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 279 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.1.22 DMC_Home_E Supported Devices: AX-308E, AX-364E ...
Page 280 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 (False) True and bBusy is False.
Page 281 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 bExecute bDone bBusy...
Page 282 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Homing mode 24 example ...
Page 283 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 284 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2 Administrative Instructions Administrative instructions generally refer to the running of the instruction to set the driver or read the relevant information without causing the actual motion of the motor.
Page 285 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 286 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Right-click Device in the project and then choose “Add Device”.
Page 287 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Once DMC_Axis_Group (DMC_Axis_Group) appears in Device, it indicates that adding the axis group is successful.
Page 288 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 AxisX ~ AxisC in the AxisGroup Parameters represent the axes 1 ~ 6 in the axis group respectively, which denotes a ...
Page 289 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 1.
Page 290 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.2 DMC_GroupDisable Supported Devices: AX-308E, AX-364E ...
Page 291 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for shifting to True Timing for shifting to False...
Page 292 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 This instruction enables the group axis DMC_Axis_Group specified by AxisGroup to enter the GroupDisable ...
Page 293 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.3 DMC_GroupReadParameter Supported Devices: AX-308E, AX-364E ...
Page 294 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Name Function PARAM_MAX_ACCELERATION_LIMIT Limit on max.
Page 295 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 296 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.4 DMC_GroupWriteParameter Supported Devices: AX-308E, AX-364E ...
Page 297 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Name Function PARAM_RAMP_TYPE Velocity ramp type...
Page 298 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Parameter Values ...
Page 299 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 the axis GROUP_REF* GROUP_REF...
Page 300 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.5 DMC_GroupReadStatus Supported Devices: AX-308E, AX-364E ...
Page 301 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Name Function Data Type Output range (Default Value) bValid True when the output values are valid.
Page 302 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for shifting to True Timing for shifting to False...
Page 303 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 bEnable bValid bBusy...
Page 304 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Add DMC_Axis_Group in Device.
Page 305 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.6 DMC_GroupReadError Supported Devices: AX-308E, AX-364E ...
Page 306 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 307 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Troubleshooting ...
Page 308 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.7 DMC_GroupReset Supported Devices: AX-308E, AX-364E ...
Page 309 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for shifting to True Timing for shifting to False...
Page 310 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.8 DMC_CamReadTappetStatus Supported Devices: AX-308E, AX-364E ...
Page 311 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Name Function Data Type Timing to Take Effect...
Page 312 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 313 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Inputs/Outputs  Name Function Data Type Setting Value...
Page 314 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 The instruction allows users to watch the states of eight tappets.
Page 315 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 316 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.9 DMC_CamReadTappetValue Supported Devices: AX-308E, AX-364E ...
Page 317 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 318 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 319 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting tappet points ...
Page 320 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Track ID MasterPosition Positive Pass...
Page 321 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.10 DMC_CamWriteTappetValue Supported Devices: AX308E, AX-364E ...
Page 322: Tappetaction_None
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value Timing to Take Name...
Page 323 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 324 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Programming Example ...
Page 325 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Track ID Master axis position Direction...
Page 326 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.11 DMC_CamAddTappet Supported Devices: AX308E, AX-364E ...
Page 327: Dmc_Error
AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Name Function Data Type Timing to Take Effect...
Page 328 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 329 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When an error occurs during the execution of the instruction or the axis is in “Errorstop”...
Page 330 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 See the tappet table before the function block is run ...
Page 331 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.12 DMC_CamDeleteTappet Supported Devices: AX308E, AX-364E ...
Page 332 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 *Note: DMC_ERROR: Enumeration (ENUM) Output Update Timing ...
Page 333 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Mode Function Action...
Page 334 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Track ID Master axis position Direction...
Page 335 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.13 DMC_CamReadPoint Supported Devices: AX308E, AX-364E ...
Page 336 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 337 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 cam table *Note: MC_CAM_REF (FB): The basic CAM.
Page 338 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 3 3 3...
Page 339 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.14 DMC_CamWritePoint Supported Devices: AX308E, AX-364E ...
Page 340 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Outputs ...
Page 341 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 data point (i.e.
Page 342 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 After the writing is finished, the actual values for the cam table “Cam”...
Page 343 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.15 DMC_ChangeMechanismGearRation Supported Devices: AX-308E, AX-364E ...
Page 344 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value (Default Name...
Page 345 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 346 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 The example shows the behavior of DMC_ChangeMechanismGearRation.
Page 347 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.16 DMC_ReadMotionState Supported Devices: AX-308E, AX-364E ...
Page 348 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Output range Name Function Data Type (Default Value)
Page 349 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 350 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 351 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Velocity MC_MoveVelocity Execute...
Page 352 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.17 DMC_AxesObserve Supported Devices: AX-308E, AX-364E ...
Page 353 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value Function Data Type...
Page 354 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 355 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Master axis Slave axis Calculation method...
Page 356 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When the master and slave axes operate together, the master axis is faster than the slave axis in velocity.
Page 357 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.18 MC_PositionLag Supported Devices: AX-308E, AX-364E ...
Page 358 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value Function Data Type...
Page 359 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 360 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 361 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.19 DMC_SetTorqueLimit Supported Devices: AX-308E, AX-364E ...
Page 362 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Output range Name Function...
Page 363 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 After the maximum torque is set, the torque of the motor will be limited to the Setting Value to protect the motor from ...
Page 364 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.20 DMC_SetSoftwareLimit Supported Devices: AX-308E, AX-364E ...
Page 365 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Output range Name Function...
Page 366 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 After DMC_SetSoftwareLimit is run, the writing and monitoring of bSoftLimitSwitch, fSWLimitNegative and ...
Page 367 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.21 DMC_CamKeyPointWrite Supported Devices: AX-308E, AX-364E ...
Page 368 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Data Function Timing to Take Effect Name...
Page 369 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for changing to TRUE Timing for changing to FALSE...
Page 370 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 CamCurveType Description Users can set the velocity and acceleration boundaries of the start point and the end Poly5 (2) point, or automatically continue the velocity and acceleration boundary value of the previous or next segment (via disabling bVelocityEnable / bAccelerationEnable)
Page 371 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Curve type VelocityEnable AccelerationEnable Velocity Acceleration...
Page 372 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Curve Type Description and it is zero at the middle point.
Page 373 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 374 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Case 1.
Page 375 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.22 DMC_TouchProbeCyclically Supported Devices: AX-308, AX-364E ...
Page 376 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 377 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Inputs/Outputs  Name Function Data Type Setting Value...
Page 378 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When DRIVE_MODE is used, TouchProbe1 and TouchProbe2 can be started respectively in two independent ...
Page 379 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Device tree setting ...
Page 380 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Device tree setting ...
Page 381 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Wiring figure ...
Page 382 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 DMC_TouchProbeCyclically specifies DRIVE_MODE with TouchProbe 1 which is triggered by the rising edge signal.
Page 383 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.23 DMC_CAMBounds Supported Devices: AX-308E, AX-364E ...
Page 384 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 axis (User unit/sec Positive The scaling factor of the When bExecute turns to True...
Page 385 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for shifting to True Timing for shifting to False...
Page 386 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 The example shows the use of DMC_CAMBounds.
Page 387 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.24 DMC_AddAxisToGroup Supported Devices: AX-308E, AX-364E ...
Page 388 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Output Update Timing ...
Page 389 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 390 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Enter the name of the single axis that you want to add, and then enter 6 in udiIdentInGroup.
Page 391 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.25 DMC_RemoveAxisFromGroup Supported Devices: AX-308E, AX-364E ...
Page 392 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When bExecute turns to False.
Page 393 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Enter the name of the single axis that you want to remove, and then run DMC_RemoveAxisFromGroup.bExecute.
Page 394 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.26 DMC_UngroupAllAxes Supported Devices: AX-308E, AX-364E ...
Page 395 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 bError When an error occurs in the execution When bEexcute turns to False.
Page 396 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.27 DMC_GroupPower Supported Devices: AX-308E, AX-364E ...
Page 397 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for shifting to True Timing for shifting to False...
Page 398 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Enter the name of the axis group that you want to enable, and then run DMC_GroupPower.bRegulatorOn.
Page 399 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.28 DMC_GroupSetOverride Supported Devices: AX-308E, AX-364E ...
Page 400 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 401 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 If an error occurs during the execution of the instruction, bError will turn to True and the axis motion will stop.
Page 402 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 3 9 7...
Page 403 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.2.29 DMC_GetCamSlaveData Supported Devices: AX-308E, AX-364E ...
Page 404 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 *Note: DMC_ERROR: Enumeration (Enum) Output Update Timing ...
Page 405 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Example ...
Page 406 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.3 Positioning Axis Instructions The function blocks in this section come from the function library DL_MotionControlLight.
Page 407 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 4 0 2...
Page 408 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.3.1 MC_Power_DML Supported Devices: AX-308E, AX-364E...
Page 409 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 410 When bEnable and bDriveStart are True and then bRegulatorOn is set to False, nAxisState (state machine) changes  to Disabled. When the axis state machine is under Standstill, Delta servo ASDA-xx-E Series runs MC_Stop_DML, and the bStatus  of MC_Power_DML will be False.
Page 411 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 MC_Stop_DML_instance( Axis : =, bExecute : =, bDone =>, bBusy =>,...
Page 412 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for shifting to True Timing for shifting to False...
Page 413 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.3.3 MC_Reset_DML Supported Devices: AX-308E, AX-364E...
Page 414 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Output Update Timing ...
Page 415 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Programming Example ...
Page 416 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.3.4 MC_Halt_DML Supported Devices: AX-308E, AX-364E ...
Page 417 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 418 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 MC_Halt_DML is different from MC_Stop_DML in stopping the axis motion.
Page 419 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.3.5 MC_Home_DML Supported Devices: AX-308E, AX-364E...
Page 420 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 421 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 axis.
Page 422 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.3.6 MC_MoveAbsolute_DML Supported Devices: AX-308E, AX-364E...
Page 423 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Outputs ...
Page 424 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 425 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.3.7 MC_MoveRelative_DML Supported Devices: AX-308E, AX-364E...
Page 426 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value Data Name...
Page 427 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 428 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.3.8 MC_MoveVelocity_DML Supported Devices: AX-308E, AX-364E...
Page 429 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 430 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value Name Function...
Page 431 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 MC_WriteBoolParameter_instance( Axis : =, bExecute : =,...
Page 432 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Outputs ...
Page 433 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Function ...
Page 434 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.3.10 MC_ReadBoolParameter_DML Supported Devices: AX-308E, AX-364E ...
Page 435 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 436 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 How to use MC_ReadBoolParameter_DML to read the number of an EtherCAT object dictionary.
Page 437 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.3.11 MC_WriteParameter_DML Supported Devices: AX-308E, AX-364E ...
Page 438 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 439 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 diParameterNumber : =-DWORD_TO_DINT (SHL (TO_DWORD (object dictionary data length), 24) + SHL (TO_DWORD (object dictionary index), 8) + object sub-index);...
Page 440 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.3.12 MC_ReadParameter_DML Supported Devices: AX-308E, AX-364E ...
Page 441 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Function Data Type...
Page 442 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 AXIS_REF_DML (FB): All function blocks contain this variable, which works as the starting program for function blocks.
Page 443 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.3.13 MC_ReadStatus_DML Supported Devices: AX-308E, AX-364E ...
Page 444 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Outputs  Name Function Data Type Output Range (Default)
Page 445 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for shifting to True Timing for shifting to False...
Page 446 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.3.14 MC_TorqueControl_DML Supported Devices: AX-308E, AX-364E ...
Page 447 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Name Function Data Type Timing to Take Effect...
Page 448 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for shifting to True Timing for shifting to False...
Page 449 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 When an error occurs in the execution of the instruction, bError will change to True.
Page 450 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.3.15 MC_ChangeAxisConfig_DML Supported Devices: AX-308E, AX-364E ...
Page 451 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value Timing to Take Name...
Page 452 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Setting Value Name Function...
Page 453 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.3.16 MC_ReinitDrive_DML Supported Devices: AX-308E, AX-364E ...
Page 454 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for shifting to True Timing for shifting to False...
Page 455 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 4 5 0...
Page 456 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.3.17 MC_VelocityControl_DML Supported Devices: AX-308E, AX-364E ...
Page 457 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Name Function Data Type Timing to Take Effect...
Page 458 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Name Timing for shifting to True Timing for shifting to False...
Page 459 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Function ...
Page 460 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.4 Tension Control The function blocks mentioned in this section are from library "DL_MotionControlLight", and the frequency converter is mainly set up through communication to achieve tension control.
Page 461 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.4.1 R2R_Configuration Supported Devices: AX-308E, AX-364E ...
Page 462 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Timing to Take Name Function Data Type...
Page 463 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Timing to Take Name Function Data Type...
Page 464 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Timing Diagram ...
Page 465 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 TensionCloseLoop_TorqueMode (Tension closed-loop control, torque mode) ...
Page 466 The PulseInput of PID_FeedbackSource refers to MI6MI7.  The axis group state must be Disabled to run this function block.  This instruction is only supported by Delta MH300 with EtherCAT (CMM-EC02) communication card.  Troubleshooting  When an error occurs in the execution of the instruction, bError will change to True. To confirm the current error state, ...
Page 467 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.4.2 R2R_RollDiameter Supported Devices: AX-308E, AX-364E ...
Page 468 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Timing to Take Name Function Data Type...
Page 469 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Timing to Take Name Function Data Type...
Page 470 This function is only available when the axis status is Disabled.  This instruction is only supported by Delta MH300 with EtherCAT (CMM-EC02) communication card.  The Thickness Aggregate parameter of RollDiameterSource has many types. Refer to the following: ...
Page 471 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Troubleshooting ...
Page 472 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.3.4.3 R2R_Run Supported Devices: AX-308E, AX-364E ...
Page 473 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Value Name Function Data Type Timing to Take Effect...
Page 474  the axis status will be changed to Continuous. This instruction is only supported by Delta MH300 with EtherCAT (CMM-EC02) communication card.  The way to set the bPID_OutputNegativePolarity can be given back by tension according to the different needs of ...
Page 475 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Sensor Wiring Diagram ...
Page 476 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 R2R_Run Parameters  Name Value Description...
Page 477 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Tension closed-loop speed mode program ...
Page 478 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Example 2: This example shows how to use the TensionCloseLoop_TorqueMode (Tension closed-loop, torque mode) ...
Page 479 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 lrRollDiameterStart Set the current roll diameter 6000 lrRollDiameterMax Set the maximum roll diameter...
Page 480 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Tension closed-loop torque mode program ...
Page 481 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Example 3: This example shows how to use the TensionOpenLoop_TorqueMode (Tension ope-loop, torque mode) ...
Page 482 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 R2R_RollDiameter Parameters ...
Page 483 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Set the R2R_Configuration, R2R_RollDiameter, and R2R_Run parameters according to the above table.
Page 484 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.4 Industry-Specific Instructions 2.4.1 Servo Press Instruction 2.4.1.1 DFC_SP_DegreeToHeight...
Page 485 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 unit deg/sec) lrGearRatio Reduction gear ratio...
Page 486 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Sample Program ...
Page 487 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.4.1.2 DFC_SP_HeightToDegree Supported Devices: AX-308E, AX-8 ...
Page 488 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Output ...
Page 489 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Troubleshooting ...
Page 490 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.4.1.3 DMC_SP_CamCoinCurve Supported Devices: AX-308E, AX-8 ...
Page 491 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Range Name Function Data Type Timing to Take Effect...
Page 492 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Status when FB finish generating bDone BOOL False/True (False)
Page 493 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 bExecute=TRUE + FB is busy bExecute=FALSE ...
Page 494 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Error Code Description Contents...
Page 495 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.4.1.4 DMC_SP_CamCrankCurve Supported Devices: AX-308E, AX-8 ...
Page 496 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 [0..62] Key point to key point curve type CamCurveType...
Page 497 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Inputs/Outputs ...
Page 498 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 4 9 3...
Page 499 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.4.1.5 DMC_SP_CamCurveWrite Supported Devices: AX-308E, AX-8 ...
Page 500 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 DMC_CamKeyPointWrite Array bExecute is at rising-edge Acceleration Enable WORD Array bBusy=FALSE &...
Page 501 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 bBusy Status when FB is busy to write ECAM table BOOL...
Page 502 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Inputs/Outputs  Name Function Data Type Setting Value...
Page 503 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 written by other function (DMC_ERROR) Sample Program...
Page 504 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Curve invert Detect ...
Page 505 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 5 0 0...
Page 506 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.4.1.6 DMC_SP_CamLinkCurve Supported Devices: AX-308E, AX-8 ...
Page 507 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 lrT2percent < 100 edge *Note1: LREAL Range:...
Page 508 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 *Note1: LREAL Range: Positive values: -1.7976931348623157E+308 to -4.9406564584124654E-324...
Page 509 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Function ...
Page 510 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 5 0 5...
Page 511 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.4.1.7 DMC_SP_CamPendulumCurve Supported Devices: AX-308E, AX-8 ...
Page 512: Bdone
AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 lrRLength Crank Length (unit: mm), provided by LREAL Positive machine maker...
Page 513 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Negative values: 4.9406564584124654E-324 to 1.7976931348623157E+308 *Note2: Curve Type (0 ~ 9) Straight line (0)
Page 514 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Invoke DMC_SP_CamCurveWrite to generate and write ECAM table after this FB is done.
Page 515: Camcurvetype=> _Parameter, Bvelenable
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 2.4.1.8 DMC_SP_CamPulse1Curve Supported Devices: AX-308E, AX-8 ...
Page 516 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Setting Range Name Function Data Type Timing to Take Effect...
Page 517 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ch a p t er 2 Link length, provided by machine lrLLength >...
Page 518 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Cubic_Spline_Clamp (8) Cubic_Spline (9) Output Update Timing...
Page 519 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 Troubleshooting ...
Page 520 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 5 1 5...
Page 521 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Appendix A A.1 Instruction Tables and Indexes A.1.1 By Function...
Page 522 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Categories Name Description DMC_VelocityControl performs a velocity control on a specified DMC_VelocityControl...
Page 523 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Categories Name Description MC_TouchProbe records an axis position at the time when a MC_TouchProbe...
Page 524 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Categories Name Description Input the axis position for DMC_GetCamSlaveData to get DMC_GetCamSlaveData...
Page 525 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Categories Name Description DMC_MoveLinearAbsolute controls a specified axis group to DMC_MoveLinearAbsolute...
Page 526 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Categories Name Description...
Page 527: Mc_Home_Dml
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A A.1.2 By Model The supported model types are listed as follows: ...
Page 528: Mc_Halt_Dml
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Model Type Function Block AX-3...
Page 529 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Model Type Function Block AX-3...
Page 530 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A DMC_GroupReset MC_ReadParameter DMC_GroupStop MC_ReadParameter_DML DMC_GroupInterrupt...
Page 531 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ch a p t er 2 A.2 Data Type: Enumeration and Structure The Data Types listed below are Enumeration type: ...
Page 532 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Applicable Function Block Data Type Value...
Page 533 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Applicable Function Block Data Type Value...
Page 534 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Applicable Function Block Data Type Value...
Page 535 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Applicable Function Block Data Type...
Page 536 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A A.3 Error Codes and Troubleshooting A.3.1 For Synchronous Axes When an error occurs, you can troubleshoot errors through error codes and the corresponding indicators.
Page 537 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 538 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 539 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 540 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 541 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 542 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 543 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 544 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 545 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 546 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 547 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 548 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 549 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 550 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 551 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 552 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 553 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Error code Description Contents...
Page 554 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A A.3.2 For Positioning Axis When an error occurs, you can troubleshoot errors through error codes and the corresponding indicators.
Page 555 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 556 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A Error code Description Contents Corrective Action...
Page 557 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Error code Description Contents...
Page 558 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A A.4 Explanation of DMC_Home_P DFB_Home_P provides many homing modes from which user can choose the appropriate one in accordance with the field condition and technical requirement.
Page 559 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Mode 3: Homing which depends on the home switch and Z pulse ...
Page 560 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Circumstance 2: When the home switch is OFF, MC_Home instruction is run and the axis moves in the negative direction at the first-phase speed.
Page 561 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Mode 8: Homing depending on the home switch, positive limit switch and Z pulse.
Page 562 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Circumstance 1: MC_Home instruction is run and the axis moves in the positive direction at the first-phase speed when the home switch is OFF.
Page 563 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Mode 11~ mode 14 Homing which depends on the home switch, negative limit switch and Z pulse Mode 11: ...
Page 564 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A home switch is ON.
Page 565 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Mode 14: Homing depending on the home switch, negative limit switch and Z pulse ...
Page 566 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Mode 17: Homing which depends on the negative limit switch, similar to mode 1, but has nothing to do with Z pulse.
Page 567 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Mode 20: Homing which depends on the home switch, similar to mode 4, but has nothing to do with Z pulse.
Page 568 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Mode 22: Homing which depends on the home switch, similar to mode 6, but has nothing to do with Z pulse.
Page 569 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Mode 24: Homing which depends on the home switch and positive limit switch, similar to mode 8, but has nothing ...
Page 570 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Circumstance 3: MC_Home instruction is run while the home switch is OFF.
Page 571 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Circumstance 1: MC_Home instruction is run while the home switch is OFF and the axis starts to move in the negative direction at the first-phase speed.
Page 572 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Mode 29: Homing which depends on the home switch and negative limit switch, similar to mode 13, but has nothing ...
Page 573 AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l Ap p en d i x A Mode 31 and mode 32: Reserved Mode 31 and mode 32 Reserved for future homing.
Page 574 AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l Ap p en d i x A MC_Home instruction is run, the axis does not move and its current position is regarded as the home position. 5 6 9...

Delta AX Series Instruction Manual

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Dmc_Sp_Campendulumcurve

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