Delta AX Series Instruction Manual page 500

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
bAccEnable
lrAccValue
wWriteAmount
bDetectMotionInvert
lrTolerenceOfDegree* 4
*Note1: LREAL Range:
Positive values: -1.7976931348623157E+308 to -4.9406564584124654E-324
Zero: 0
Negative values: 4.9406564584124654E-324 to 1.7976931348623157E+308
*Note2: CAM Curve Types (0 ~ 9)
Straight line (0)
Quadratic Parabola (1)
5th Polynomial (2)
Basic Sine (3)
Inclined Sine (4)
Mod_Acc Sine (5)
Mod_Acc Trapezoidal (6)
Cubic_Spline_Nature (7)
Cubic_Spline_Clamp (8)
Cubic_Spline (9)
*Note3: DMC_SP_MACHINE_PARAMETERS
Name
lrRLength
lrLLength
lrSPMsys
lrGearRatio
lrRPMmotor
*Note4 : When bDetectMotionInvert is set as FALSE, lrTolerenceOfDegree will be ignored.
Outputs

Name
bDone
DMC_CamKeyPointWrite
Acceleration Enable
Configurations for
DMC_CamKeyPointWrite
Acceleration Value for
DMC_CamKeyPointWrite
Key-points write amount for
DMC_CamKeyPointWrite
Enable detecting motion invert
functionality
The tolerance invert degree
during motion between two key-
points
Function
Crank length (unit: mm), provided by
machine maker
Link length(unit: mm), provided by
machine maker
Virtual master-axis's SPM. (six times
lrSPMsys is equal to the unit
deg/sec)
Reduction gear ratio
Max RPM of the motor
Function
Status when FB finish writing ECAM table
and calculating ECAM velocity upper bound
value
Array
WORD Array
BOOL(FALSE)
[0..63]
[0..63] LREAL
LREAL*
Array
WORD 2~64(0)
BOOL False/True (False)
LREAL 0~180(0)
Data Type
LREAL
LREAL
LREAL
LREAL
LREAL
Data Type
BOOL
Ch a p t er 2
bExecute is at rising-edge
bBusy=FALSE &
bExecute is at rising-edge
bBusy=FALSE &
1 (0)
bExecute is at rising-edge
bBusy=FALSE &
bExecute is at rising-edge
bBusy=FALSE &
bExecute is at rising-edge.
bBusy=FALSE &
bExecute is at rising-edge.
Setting Value
Positive
lrLLength > (2 *
lrRLength)
Positive
Positive
Positive
Output Range (Default Value)
False/True (False)
4 9 5