Delta AX Series Instruction Manual page 79

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
TimeAcceleration
*Note:
1. AXIS_REF_SM3(FB): Every function block contains this variable, which works as the starting program for function blocks.
2. MC_TA_REF: Structure(STRUCT).
Name
There's no need to set this
Number_of_pairs variable, which has been
replaced by InputsArraySize.
IsAbsolute
Time and acceleration data during
MC_TA_Array
execution of instruction.
*Note: SMC_TA: Structure(STRUCT).
Name
delta_time
acceleration
Function

MC_AccelerationProfile carries out motion profile with time and acceleration according to the user-defined data in

TimeAcceleration variables, the state is Continuous Motion during the movement.
MC_MoveSuperimposed cannot add a specific distance to an existing motion of MC_AccelerationProfile.

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_AccelerationProfile.

axis.
Time and
acceleration
MC_TA_REF*
during
execution.
Function
Set the mode of acceleration.
Function
Period of time between
position points
Acceleration of the
position point
MC_T_REF
2
Data Type
INT
BOOL
ARRAY [1..100] OF SMC_TA
Data Type
TIME
LREAL
Busy is False.
When Execute turns to True and
Busy is False.
Setting Value
(Default Value)
True: Absolute mode
False: Relative mode
SMC_TA*
Setting Value (Default Value)
Positive or 0(TIME#0ms)
Negative, positive or 0(0)
Ch a p t er 2
-
(True)
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