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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
Name
bEnable
bContinuousUpdate
lrTorque
dwTorqueRamp
lrVelocity
lrAcceleration
lrDeceleration
lrJerk
Direction
*Note:
1.
DL_MotionControl version V1.0.1.0 includes the above support, when bContinuousUpdate is True, the torque and the
maximum speed can be modified immediately.
2.
Take ASDA-A2 for example here with the unit:
dictionaries.
Outputs
Name
bInTorque
bBusy
bCommandAborted
bError
ErrorID
Function
The instruction is enabled
when bEnable changes from
False to True.
The target torque maximum
speed can be updated
continuously when
bContinuousUpdate is True
Specify the target torque.
(Unit: N.m)
Specify the change rate of the
torque (Unit: ms)
*2
Specify the maximum
velocity.
Reserved
Reserved
Reserved
Reserved
μs
(microsecond). For other models, refer to 0x6087 in their object
Function
True when the target torque
is reached.
True when the instruction is
run.
True when the instruction is
interrupted.
True when an error occurs.
Record the error code when
an error occurs. Refer to
Appendix for error code
descriptions.
Setting Value
Data Type
(Default Value)
True/False
BOOL
True/False
BOOL
*1
.
positive, 0
LREAL
DWORD
LREAL
LREAL
LREAL
LREAL
BOOL
Data Type
BOOL
BOOL
BOOL
BOOL
DMC_ERROR
*
Timing to Take Effect
-
(False)
When bEnable turns to
True and Busy is False.
(False)
Negative,
When bEnable turns to
True and Busy is False.
(0)
Positive
When bEnable turns to
True and Busy is False.
(0)
Positive
When bEnable turns to
True and Busy is False.
(0)
-
-
-
-
-
-
-
-
Output Range Value (Default Value)
True/False (False)
True/False (False)
True/False (False)
True/False (False)
DMC_ERROR (DMC_NO_ERROR)
Ch a p t er 2
1 6 7
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