Delta AX Series Instruction Manual page 448

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
bError
ErrorID
Timing Diagram

bEnable
bInTorque
bBusy
bCommandAborte
bError
Inputs/Outputs

Name Function
Specify the
Axis
axis.
*Note:
AXIS_REF_DML (FB): All function blocks contain this variable, which works as the starting program for function blocks.
Function

When bExecute of the instruction turns to True, the target torque (lrTorque), torque ramp (dwTorqueRamp) and

maximum velocity (lrVelocity) will be sent to the servo for servo torque control.
When bExecute is True, the instruction is run for a velocity-constant motion according to the specified target velocity

(lrVelocity), acceleration rate (lrAcceleration) and deceleration rate (lrDeceleration).
The executing MC_TorqueControl_DML can be aborted by executing another motion instruction.

When MC_TorqueControl_DML is aborted by another motion instruction, the output bInTorque will shift to False and

the output bCommandAborted will shift to True.
When bExecute of MC_TorqueControl_DML turns to True, the axis starts to move according to the target velocity. Even

if bExecute turns to False, the instruction execution will not be affected.
When bExecute of MC_TorqueControl_DML turns to True again and a new lrTorque value is set, the torque of the axis

is adjusted to the new torque value.
When its bExecute turns to False after the instruction is run and the target torque is reached, bInTorque of

MC_TorqueControl_DML turns to True. Afterward, bInTorque will remain True until it is aborted by another instruction.
When using C2000+ or CH2000 Series AC Motor Drives, it is necessary to configure 0x6064 (Position actual value)

and 0x6077 (Torque actual value) to the Slave PDO (Process data) mapping data.
Troubleshooting

Timing for shifting to True
When an error occurs in the execution

conditions or input values for the
instruction.
Data Type
AXIS_REF_DML *
change to False after maintaining a True state
for a scan cycle.
When bExecute turns to False. (Error Code is

cleared)
Setting Value
When bExecute turns to True and bBusy is
AXIS_REF_DML
False.
Timing for shifting to False
Timing to Take Effect
Ch a p t er 2
4 4 3