Delta AX Series Instruction Manual page 357

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
2.3.2.18 MC_PositionLag
Supported Devices: AX-308E, AX-364E

DMC_PositionLag sets the allowed range of lag error and observe whether the allowed position lag is exceeded.
FB/FC Instruction
FB DMC_PositionLag
DMC_PositionLag_instance(
Axis: =,
bEnable : =,
eStopMode : =,
fMaxPositionLag : =,
fSetActTimeLagCycles : =,
bOutOfRange=>,
bBusy =>,
bError =>,
ErrorID =>,
lrPosLag =>);
Inputs

Name
bEnable
eStopMode
fMaxPositionLag
fSetActTimeLagCycles
Function
The instruction
is run when
bEnable
changes from
False to True.
Specify the stop
SMC3_CheckPositionLag
mode for axis
motion when the
lag error occurs.
Specify the
maximum lag
error value.
Specify the lag
cycle between
command value
and actual
Graphic Expression
ST Language
Data Type
BOOL
0: SMC3_PCL_OFF
1: SMC3_PCL_DISABLE
2: SMC3_PCL_HALT
Mode
3: SMC3_PCL_ENABLE
(SMC3_PCL_OFF)
LREAL
LREAL
Setting Value
Timing to Take Effect
(Default Value)
True/False
-
(False)
When bEnable and
bBusy are True.
Positive or 0
When bEnable and
bBusy are True.
(0)
Positive or 0
When bEnable and
bBusy are True.
(3)
Ch a p t er 2
3 5 2