Delta AX Series Instruction Manual page 75

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
*Note:
1. AXIS_REF_SM3(FB): Every function block contains this variable, which works as the starting program for function blocks.
2. MC_TV_REF: Structure(STRUCT).
Name
Number_of_pairs
IsAbsolute
MC_TV_Array
*Note: SMC_TV: Structure(STRUCT).
Name
delta_time
velocity
Function

MC_VelocityProfile carries out motion profile with time and velocity according to the user-defined data in TimeVelocity

variables, the state is Continuous Motion during the movement.
MC_VelocityProfile 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_VelocityProfile.

Configure for the curve of motion profile:
Function
There's no need to set this variable, which has been
replaced by InputsArraySize.
Set the mode of velocity.
Time and velocity data during execution of
instruction.
Function
Period of time between
position points
Velocity of the position
point
Data Type
TIME
LREAL
Data Type
INT
True: Absolute mode
BOOL False: Relative mode
ARRAY [1..100] OF
SMC_TV
Setting Value (Default Value)
Positive or 0(TIME#0ms)
Negative, positive or 0(0)
Ch a p t er 2
Setting Value
(Default Value)
-
(True)
SMC_TV*
7 0