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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
Specify the acceleration
rate when the motion
lrAcceleration
starts.
(Unit: User unit/s
Specify the deceleration
rate when the motion
lrDeceleration
ends.
(Unit: User unit/s
Specify the jerk.
lrJerk
(Unit: User unit/s
Specify the motion
Direction
direction.
lrRoundPhase
Set the modulo.
Specify a position or a
lrStopPhase
phase in the modulo.
*Note: MC_DIRECTION: Enumeration (Enum)
Outputs
Name
bInVelocity
bDone
bCommandAborted
bBusy
bError
ErrorID
*Note: DMC_ERROR: Enumeration (Enum)
Output Update Timing
Name
bInVelocity
Function
)
2
2
)
)
3
MC_DIRECTION
Function
True when reaching the target velocity.
If the trigger signal is True and the axis position
has been recorded.
True when the instruction is interrupted by
another instruction.
True when the instruction is triggered to run.
True when an error occurs.
Contains error codes.
Timing for changing to TRUE
When axis velocity reaches the target
speed.
Setting Value
Data Type
(Default Value)
Positive
LREAL
Positive
LREAL
Positive
LREAL
-1: negative
*
1: positive
(positive)
Positive
LREAL
Positive or 0
LREAL
DMC_ERROR
When bCommandAborted turns to True.
When bExecute is re-triggered, and Velocity is
given a new value.
Timing to Take Effect
When bExecute is True and
the output bBusy is False.
(0)
When bExecute is True and
the output bBusy is False.
(0)
When bExecute is True and
the output bBusy is False.
(0)
When bExecute is True and
the output bBusy is False.
When bExecute is True and
the output bBusy is False.
(0)
When bExecute is True and
the output bBusy is False.
(0)
Output range
Data Type
(Default Value)
BOOL
True/False (False)
BOOL
True/False (False)
BOOL
True/False (False)
BOOL
True/False (False)
BOOL
True/False (False)
DMC_ERROR
*
(DMC_NO_ERROR)
Timing for changing to FALSE
Ch a p t er 2
2 1 9
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