Delta AX Series Instruction Manual 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
Inputs/Outputs

Name Function
Specify the axis
AxisGroup
group.
*Note: DMC_AXIS_GROUP_REF (FB): All function blocks for an axis group contain this variable, which works as the starting
program for function blocks.
Function

The instruction supports the relative linear interpolation of maximum six axes, where the six axes can simultaneously

start, stop as well as reach the specified target relative position.
At least one axis is needed for the linear interpolation. An error will occur if there is a travel distance for the axis which

is not set.
The function of CoordSystem needs to be supported by DL_MotionControl library V1.1.0.0 or above.

Troubleshooting

When an error occurs during the execution of the instruction, bError changes to True and axes stops running. To confirm

current error state, see the error code in ErrorID.
For error codes and corresponding trouble shootings, refer to Appendix for error code descriptions.

Programming Example

In this example, the path for the six-axis relative linear interpolation is planned and six axes simultaneously reach the

target relative position through traveling a relative distance from current positon.
The number of each axis in the axis
group
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Data Type
DMC_AXIS_GROUP_REF*
Current position
1000
1000
1000
1000
1000
1000
Output range
DMC_AXIS_GROUP_REF
Relative distance
1000
2000
3000
4000
5000
0
Ch a p t er 2
Name
When bExecute turns to True
and bBusy is False.
Target position
2000
3000
4000
5000
6000
1000
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