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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
lrDeceleration
lrJerk
Direction
*Note:
1.
After bContinuousUpdate has started, change the speed, and acceleration & deceleration will immediately take effect.
2.
MC_DIRECTION: Enumeration (ENUM).
3.
The options fastest, current and shortest are only for the rotary axis.
Outputs
Name
bInVelocity
bBusy
bCommandAborted
bError
ErrorID
*Note: DMC_ERROR: Enumeration (ENUM)
Output Update Timing
Name
bInVelocity
bBusy
Function
Deceleration rate
(Unit: user unit/s
2
Jerk value.
(Unit: user unit/s
3
Specifies the motion direction of
the servo motor.
Function
True when the specified target
velocity 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.
Timing for shifting to True
When the specified target velocity is
reached.
When bEnable turns to True.
Data Type
LREAL
)
LREAL
)
MC_
DIRECTION
*2
Data Type
BOOL
BOOL
BOOL
BOOL
DMC_ERROR*
Setting Value
Timing to Take Effect
(Default Value)
When bEnable turns
Positive (0)
to True and Busy is
False.
When bEnable turns
Positive (0)
to True and Busy is
False.
3: fastest
When bEnable turns
to True and Busy is
2: current
False.
1: positive
0: shortest
-1: negative
(current)
*3
Output Range Value (Default Value)
True/False (False)
True/False (False)
True/False (False)
True/False (False)
DMC_ERROR (DMC_NO_ERROR)
Timing for shifting to False
When bCommandAborted turns to True.
When bContinuousUpdate is True. and
lrVelocity value is changed.
When bEnable turns to False.
When bError turns to True.
When bCommandAborted turns to True.
When the axis decelerates to a stop after
bEnable turns to False.
When bError turns to True.
Ch a p t er 2
1 7 2
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