Delta AX Series Instruction Manual page 359

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
Name Function
Specify the
Axis
axis.
*Note: AXIS_REF_SM3 (FB): The interface is built in every function block and works as the starting program of the function
block.
Function

Explanation of eStopMode

ENUM
0
1
2
3
SMC3_PCL_OFF: When LagError is out of the allowed range, the axis is still running.

SMC3_PCL_DISABLE: When LagError is out of the allowed range, the axis parameter bRegulatorOn changes

to False.
SMC3_PCL_HALT: When LagError is out of the allowed range, the axis parameter bDriveStart changes to False.

SMC3_PCL_ENABLE: When LagError is out of the allowed range and the axis stops, there are no change for

bRegulatorOn and bDriveStart states.
Calculation and Judgement of Lag Error

｜(fActPosition + fSetActTimeLagCycles * [Task cycle time] * fActVelocity – fSetPosition)｜> fMaxPositionLag

fSetActTimeLagCycles sets the lag cycle between the command value and actual value. The bigger the

difference between the set lag cycle and actual lag cycle, the more likely the lag error will occur due to the error
between the command position and actual position.
When LagError is out of the range, bOutOfRange will change to True and the axis will perform corresponding action

based on the setting of eStopMode.
Troubleshooting

When an error occurs during the execution of the instruction or the axis enters "Errorstop" state, bError changes to

True and the axis stops running. To confirm current error state, see the error code in ErrorID.
Programming Example

The example illustrates how to observe the position lag state and modify the position lag parameters via

DMC_PositionLag.
Data Type
AXIS_REF_SM3*
Setting Value
AXIS_REF_SM3
ENUM Name
SMC3_PCL_OFF
SMC3_PCL_DISABLE
SMC3_PCL_HALT
SMC3_PCL_ENABLE
Timing to Take Effect
When bExecute turns to True.
Ch a p t er 2
3 5 4