Table Of Contents - Delta AX Series Instruction Manual

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
TOC
TOC 1
Preface 1
P.1 Introduction .................................................................................................. ......................................1
P.1.1 Applicable Products .................................................................................................................... 1
P.1.2 Associated Manuals .................................................................................................................... 1
Introduction to Motion Control......................................................................................................2
1.1 Introductions of Motion Control...............................................................................................3
1.1.1 Basic Knowledge of Motion Control Instructions ..................................................................... 3
1.2 Categories of Motion Control Instructions ..................................................... .......................6
1.3 Overview of Delta Motion Instructions Library ............................................... .....................7
Motion Control Instruction ..........................................................................................................8
2.1 Motion Control Instructions .................................................................................................... 9
2.1.1 MC_Home ............................................................................................................................ 9
2.1.2 MC_Stop............................................................................................................................. 13
2.1.3 MC_Halt ............................................................................................................................. 16
2.1.4 MC_MoveAbsolute .............................................................................................................. 20
2.1.5 MC_MoveRelative ............................................................................................................... 26
2.1.6 MC_MoveAdditive ............................................................................................................... 30
2.1.7 MC_MoveSuperImposed ..................................................................................................... 34
2.1.8 MC_CamIn ......................................................................................................................... 38
2.1.9 MC_CamOut ....................................................................................................................... 55
2.1.10 MC_MoveVelocity ............................................................................................................... 59
2.1.11 MC_PositionProfile .............................................................................................................. 64
2.1.12 MC_VelocityProfile .............................................................................................................. 68
2.1.13 MC_AccelerationProfile ....................................................................................................... 72
2.1.14 MC_Jog .............................................................................................................................. 76
2.1.15 MC_GearIn ......................................................................................................................... 79
2.1.16 MC_GearOut ...................................................................................................................... 83
2.1.17 MC_GearInPos ................................................................................................................... 88
2.1.18 MC_Phasing ....................................................................................................................... 94
2.2 Administrative Motion Control Instructions ........................................................................99
2.2.1 MC_Power .......................................................................................................................... 99
2.2.2 MC_SetPosition ................................................................................................................ 104
2.2.3 MC_ReadParameter ......................................................................................................... 109
2.2.4 MC_WriteParameter .......................................................................................................... 112
2.2.5 MC_ReadBoolParameter ................................................................................................... 115
2.2.6 MC_WriteBoolParameter ................................................................................................... 118
2.2.7 MC_ReadActualPosition .................................................................................................... 121
2.2.8 MC_ReadActualVelocity .................................................................................................... 124
2.2.9 MC_ReadActualTorque ..................................................................................................... 127
2.2.10 MC_Reset ......................................................................................................................... 128
2.2.11 MC_ReadStatus ................................................................................................................ 131
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