Delta AX Series Instruction Manual 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
RoundPhase & StopPhase

RoundPhase specifies a modulo. StopPhase is a position in the modulo. The value of StopPhase should be

less than that of RoundPhase.
When the axis specified by the function block is a linear axis, RoundPhase is the length of the specified

modulo. And StopPhase is a point in the specified modulo. When bTriggerStop changes to True, the axis will
stop at the position specified by StopPhase, and the final stop position equals an integral multiple of
RoundPhase value + StopPhase value.
When the axis specified by the function block is a rotary axis, RoundPhase specifies the entire phase of the

modulo and StopPhase is a phase in the specified modulo. When bTriggerStop changes to True, the axis will
stop at the phase specified by StopPhase, and the final stop position is (StopPhase value/ RoundPhase
value) × Modulo value of the rotary axis.
Special Case

When the stop command is performed, the axis may not be able to complete the stop action with the

deceleration rate specified by lrdeceleration if the position of the specified axis is too close to the target stop
position. Therefore, the axis positioning will end in the next modulo. In that case, it is suggested to adjust the
value of lrDeceleration or the position where the stop command is triggered so as to satisfy the path planned in
the deceleration motion.
Troubleshooting

When an error occurs in the execution of instructions or the axis group enters "Errorstop state", bError changes to

True and the axes stops running. To confirm the current error state, see the error code in ErrorID.
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