Delta AX Series Instruction Manual page 406

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
2.3.3 Positioning Axis Instructions
The function blocks in this section come from the function library DL_MotionControlLight. The drive handles the main motion curve
planning and calculation of function blocks. So select the positioning axis when setting the axis. Refer to section 7.4 in AX-3 Series
Operation Manual for related settings on a positioning axis.
Positioning axis speed range introduction
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The positioning axis speed range is related to the speed range in the EtherCAT servo drive. Take the A2-E servo as an
example. The servo drive speed unit is rpm, and the acceleration and deceleration time unit is ms.
Gear ratio of the DIA-AX software end
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Take the above figure as a calculation example
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Factor =（ / ）*（ / ）
The maximum speed and maximum acceleration and deceleration range of the function block are calculated as follows:
Max. lrVelocity = allowable rated rpm of servo drive / 60 * servo motor one-round resolution / Factor
Max. lrAcceleration = speed time allowable range / fastest acceleration time for the servo drive
Max. lrDeceleration = speed time allowable range / fastest deceleration time for the servo drive
Example:
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If
- A2-E servo drive allowable rated speed is 3,000 rpm
- A2-E servo motor one-round resolution is 1,280,000 (P1-44 = 1， P1-45 = 1)
- The fastest acceleration and deceleration time is 1 ms for EtherCAT OD 0x6083 and 0x6084
- DIA-AX Factor = 128, then
Max. lrVelocity = 3000/60*128000/128 = 500000 unit/s
Max. lrAcceleration = Max. lrDeceleration = 500000 / (1/1000) = 500000000 unit/s2
*Note: When the conversion unit exceeds the pulse unit, it will run at the maximum allowable pulse unit of the drive.
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