Delta AX Series User Manual

AX-Series Motion Controller Instructions Manual Chapter 2
252
Name Function Data Type
Output range value (Default
Value)
ErrorID
Record the error code when the
instruction error occurs. For the
detailed description of the error code,
refer to the appendix of the manual.
DMC_ERROR
*1
DMC_ERROR
（DMC_NO_ERROR）
Position
The current Instruction position of the
axis group in the set CoordSystem.
LREAL[6]
[_，_，_，_，_，_]
Positive value, negative value or 0
([0，0，0，0，0，0])
KinematicConfig
When the CoordinateSystem is set as
the cassette Coordinate system (that
is, when it is not ACS), the
configuration and attitude data
corresponding to the current Instruction
position of the axis group.
DL_Kinematics.CONFIG_
DATA
*2
(Reserved)
-
*Note:
1. DMC_ERROR: Enumeration (Enum)
2. Depending on the configuration, there are different storage data.
 Output Update Timing
Name
Timing for shifting to True
Timing for shifting to False
bValid
 When bEnable turns to True and
lrValueOutput is valid.

When
bEnable
turns to True.
 When bError turns to True.
bBusy
 When the rising edge of bEnable is triggered.

When bValid turns to True.
 When bError turns to True.
bError
 When an error occurs in the execution
condition of the Instruction or the input value.
 When bEnable turns to True (Clear the
Error Code).
ErrorID
Position
 Continuously update the value when bEnable
is True.
 Continuously update the value when
bEnable is True.
KinematicConfig
 Continuously update the value when bEnable
is True.
 Continuously update the value when
bEnable is True.
 Timing Diagram
 Inputs/Outputs
Name
Function
Data Type
Setting Value
Timing to Take Effect
AxisGroup
Specify the
DMC_AXIS_GROUP_REF
*
DMC_AXIS_
When bEnable turns to True and bBusy
bEnable
bValid
bBusy
bError

Delta AX Series Specifications

General

Brand	Delta
Model	AX Series
Category	Controller
Language	English