Introductions Of Motion Control; Basic Knowledge Of Motion Control Instructions - Delta AX Series Instruction Manual

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

1.1 Introductions of Motion Control

This manual introduces the elements of motion control programming, including devices, symbols, and motion control
instructions.
Motion control instructions are defined as function blocks (FB) and are used in the program for various control purposes. The
motion control (MC) instructions are developed based on the specifications of PLCopen* motion control function blocks. In
addition to the PLCopen-based instructions, Codesys also provides Delta-defined function blocks for users to achieve complete
motion control applications.
This section overviews the motion control instructions for both PLCopen-based and Delta-defined function blocks. PLCopen
defines the program and function block interfaces to achieve a standardized motion control programming environment for the
languages specified in IEC61131-3. Using PLCopen-based instructions and Delta-defined instructions reduces training and
support costs.
Before using the instructions, be sure that you sufficiently understand the devices, symbols and function of instructions.
You can also refer to the Appendix for a quick reference of the motion control instruction list and error codes.
*Note:
PLCopen is an organization promoting industrial control based on IEC61131-3, an international standard widely adopted for
PLC programming. For more information regarding PLCopen, check the official website at:

1.1.1 Basic Knowledge of Motion Control Instructions

Using motion control instructions requires the basic knowledge of motion control defined in the specifications of PLCopen
motion control function blocks. This section provides an overview of these specifications.
•
Name of Motion Control Instructions
PLCopen-based motion control instructions begin with "MC_", while Delta-defined function block instructions begin with
"DFB_".
Type
MC_
DMC_
*Note: Delta-defined function block instructions (DFB) include Delta-defined motion control function blocks and other
administrative/non-administrative function blocks applicable for AH Motion series CPUs. Therefore, you can look up a
function block (FB) in this manual.
•
Types of Motion Control Related Instructions
Different categories of motion control instructions are divided by functions, such as single-axis motion instructions.
Refer to Ch2 Motion Control Instructions for more details.
•
Execution of a Function Block
Function block instructions generally include two types of inputs for execution: Execute and Enable. When the instruction
is run or enabled, the function block outputs can indicate the status. The basic outputs include Busy, Done,
CommandAborted, and Error. For detailed information on inputs and outputs of each function block, refer to Ch2 Motion
Control Instructions.
•
Error Handling
Information regarding error codes, indicators, and troubleshooting is in Appendix A for quick reference.
•
Re-execution of a Function Block
Re-execution of a function block refers to triggering Execute again after resetting it. You can change the input values
and trigger Execute again while the function block is during operation (in busy status). Such output status will remain
unchanged (in busy status), which also means the previously run instruction will be aborted by Aborting under the
buffer mode.
•
Multi-execution of Multiple Motion Control Instructions
PLCopen-based motion control instructions
Delta-defined function block instructions*
http: //www.plcopen.org/
Description
Ch a p t er 1
3