Delta AX Series - Page 228

AX-Series Motion Controller Instructions Manual Chapter 2
223
 Programming Example 2:
 This example illustrates how to use DMC_MoveVelocityStopByPos for position locating after the linear axis
motion starts.
 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 5000 and 2000 respectively.
Therefore, the linear axis finally stops at the position of an integral multiple of 5000 plus 2000.
3. Since the axis position exceeds 2000 as bTriggerStop turns to True, the axis will stop at the next 7000.
DMC_MoveVelocityStopByPos
bExecute
bTriggerStop
bDriveStart
Acceleration
State Machine
standstill(3)
continuous motion(5)
Velocity
Position
0
-1000
-7000
discrete motion(4)
Jerk
0
0
-3000
0
3000
-5000
50000
-50000
standstill(3)