Delta AX Series User Manual

AX-Series Motion Controller Instructions Manual Chapter 2
161
Name Function Data Type
Setting Value
(Default Value)
Timing to Take Effect
compensating for
backlash
changes from False
to True
eBacklashMode
The backlash
compensation
mode
SMC_BACKL
ASH_MODE
*1
-1: SMC_BL_NEGATIVE
0: SMC_BL_OFF
1: SMC_BL_POSITIVE
2: SMC_BL_AUTO
(SMC_BL_AUTO)
When bExecute
changes from False
to True
eBacklashStartState
The initial state of
the axis
SMC_BACKL
ASH_START
STATE
*2
-1: SMC_BL_START_NEGATIVE
0: SMC_BL_START_NONE
1: SMC_BL_START_POSITIVE
(SMC_BL_START_NONE)
When bExecute
changes from False
to True
*Note:
1. SMC_BACKLASH_MODE: Enumeration (Enum)
2. SMC_BACKLASH_STARTSTATE: Enumeration (Enum)
 Outputs
Name
Function
Data Type
Output Range (Default Value)
Busy
True when the instruction is
triggered to run.
BOOL True/False (False)
bCommandAborted
True when the function block
is interrupted by another
synchronous function block.
BOOL True/False (False)
bError True when an error occurs. BOOL True/False (False)
ErrorID
Record the error code when
an error occurs.
Refer to Appendix for error
code descriptions.
SMC_ERROR* SMC_ERROR (SMC_NO_ERROR)
bCompensating
True when compensating for
backlash
BOOL True/False (False)
*Note: SMC_ERROR: Enumeration (Enum)
 Output Updating Time
Name Timing for Shifting to True Timing for Shifting to False
bBusy
 When bExecute turns to True

When bError turns to True

When bCommandAborted turns to True
bCommandAborted

When MC_GearOut is run
 When the function block instruction is
interrupted by another function block
instruction
 When the function block instruction is
interrupted by MC_Stop
 When bExecute turns to False
 If bExecute is False and bCommandAborted is
True, bCommandAborted will immediately
change to False after maintaining a True state
for a scan cycle.
bError

When an error occurs in execution
conditions or input values for the
instruction
 When bExecute turns to False (Error Code is
cleared)
ErrorID
bCompensating

When backlash compensation is
undergoing
 When backlash compensation is not performed

Delta AX Series Specifications

General

Input Voltage	24 VDC
Expansion Modules	Up to 8 modules
Series	AX
Operating Temperature	0°C to 55°C
CPU	32-bit
Communication Ports	RS-232, RS-485, Ethernet
Type	Programmable Logic Controller (PLC)
Programming Language	Ladder Diagram
I/O Capacity	Up to 256 I/O points