Delta AX Series Instruction Manual page 71

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. MC_TP_REF: Structure(STRUCT).
Name
There's no need
to set this
variable, which
Number_of_pairs
has been
replaced by
InputsArraySize.
Set the mode of
IsAbsolute
position data
MC_TP_Array
during execution
of instruction.
*Note: SMC_TP: Structure(STRUCT).
Name
delta_time
position
Function

MC_PositionProfile carries out motion profile with time and position according to the user-defined data in TimePosition

variables, the state is Discrete Motion during the movement.
MC_MoveSuperimposed will not be able to function while MC_PositionProfile is being used.

Troubleshooting

If an error occurs during the execution of the instruction, Error will change to True. You can refer to ErrorID (Error

Code) to address the problem.
Example

The example below describes the behavior of MC_PositionProfile instruction.

Configure for the curve of motion profile:
Function
position.
Time and
Function
Period of time between
position points
Position of the position
point
Data Type
INT
BOOL
ARRAY [1..100] OF SMC_TP
Data Type
TIME
LREAL
Setting Value (Default
True: Absolute mode
False: Relative mode
Setting Value (Default Value)
Positive or 0(TIME#0ms)
Negative, positive or 0(0)
Ch a p t er 2
Value)
-
(True)
SMC_TP*
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