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AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l
Name
dwTorqueRamp
lrVelocity
lrAcceleration
lrDeceleration
lrJerk
Direction
*Note:
Here is ASDA-A2 as an example with the unit of microsecond. For other servo models, refer to 0x6087 in the object dictionary.
Outputs
Name
bInTorque
bBusy
bCommandAborted
bError
ErrorID
*Note: DML_ERROR: Enumeration (ENUM)
Output Update Timing
Name
bInTorque
bBusy
bCommandAborted
Function
Specify the change rate of the
torque from current torque to
target torque.
(Unit: ms)
*
Specify the maximum velocity.
Reserved
Reserved
Reserved
Reserved
Function
True when the target torque is
reached.
True when the instruction is
run.
True when the instruction is
interrupted.
True when an error occurs.
Indicates the error code if an
error occurs. Refer to
Appendix for error code
descriptions.
Timing for shifting to True
When bExecute turns to True and the
axis state is available.
When bExecute turns to True and the
instruction is run.
When the instruction is aborted.
Setting Value
Data Type
(Default)
DWORD
Positive (0)
LREAL
Positive (0)
LREAL
-
LREAL
-
LREAL
-
BOOL
-
Data Type
BOOL
BOOL
BOOL
BOOL
DML_ERROR
*
Timing for shifting to False
When bError turns to True.
When bCommandAborted turns to True.
When bExecute turns to True again and
lrTorque value changes.
When bError turns to True.
When bCommandAborted turns to True.
When bExecute turns to False.
If bExecute is False and bCommandAborted is
True, bCommandAborted will immediately
Timing to Take Effect
When bExecute turns to
True and Busy is False.
When bExecute turns to
True and Busy is False.
-
-
-
-
Output Range (Default)
True/False (False)
True/False (False)
True/False (False)
True/False (False)
DML_ERROR (DML_NoError)
Ch a p t er 2
4 4 2
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