Delta AX Series Instruction Manual page 360

Motion controller

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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

Timing Diagram

Firstly, set eStopMode to SMC3_PCL_OFF. The axis starts to run. Then no matter whether the lag error occurs,

the axis will not stop running with bOutOfRange of the instruction always being False.

Then set eStopMode to SMC3_PCL_HALT and set fMaxPositionLag to a value which is greater than LagError

value. Then the position lag value will never be out of the range for the constant-velocity motion.

Eventually, adjust fMaxPositionLag to a value which is less than LagError value. Then it can be found that the

axis stops running and enters ErrorStop state. And bOutOfRange of the instruction turns to True.

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