Delta AX Series - Page 227

AX-Series Motion Controller Instructions Manual Chapter 2
222
 Programming Examples
 Programming Example 1:
 This example illustrates how to use DMC_MoveVelocityStopByPos for phase positioning after the rotary axis
motion starts.
 Rotary axis setting
 Timing Diagram
1. After bExecute changes to True, the axis starts to move at a constant speed in the set direction until
bTriggerStop changes to True to start the positioning motion.
2. The RoundPhase and StopPhase of DMC_MoveVelocityStopByPos are set to 360 and 180, and the Modulo
value of the rotary axis is 3600. Therefore, the rotary axis finally stops at 1800.
3. Since the axis position exceeds the position specified by StopPhase as bTriggerStop turns to True, the axis
will stop at the next StopPhase position.
DMC_MoveVelocityStopByPos
bExecute
bTriggerStop
bDriveStart
Acceleration
State Machine
standstill(3)
continuous motion(5)
Velocity
Position
0
0
0
discrete
motion
(4)
Jerk
0
3000
1800
1000
5000
-3000
50000
-50000
standstill(3)