Delta AX Series User Manual

AX-Series Motion Controller Instructions Manual Chapter 2
442
Name Function Data Type
Setting Value
(Default)
Timing to Take Effect
dwTorqueRamp
Specify the change rate of the
torque from current torque to
target torque.
(Unit: ms)
*
DWORD Positive (0)
When bExecute turns to
True and Busy is False.
lrVelocity Specify the maximum velocity. LREAL Positive (0)
When bExecute turns to
True and Busy is False.
lrAcceleration Reserved LREAL - -
lrDeceleration
Reserved
LREAL
-
-
lrJerk Reserved LREAL - -
Direction Reserved BOOL - -
*Note:
Here is ASDA-A2 as an example with the unit of microsecond. For other servo models, refer to 0x6087 in the object dictionary.
 Outputs
Name
Function
Data Type
Output Range (Default)
bInTorque
True when the target torque is
reached.
BOOL True/False (False)
bBusy
True when the instruction is
run.
BOOL True/False (False)
bCommandAborted
True when the instruction is
interrupted.
BOOL True/False (False)
bError True when an error occurs. BOOL True/False (False)
ErrorID
Indicates the error code if an
error occurs. Refer to
Appendix for error code
descriptions.
DML_ERROR
*
DML_ERROR (DML_NoError)
*Note: DML_ERROR: Enumeration (ENUM)
 Output Update Timing
Name
Timing for shifting to True
Timing for shifting to False
bInTorque
 When bExecute turns to True and the
axis state is available.

When bError turns to True.
 When bCommandAborted turns to True.
 When bExecute turns
to True again and
lrTorque value changes.
bBusy

When bExecute turns to True and the
instruction is run.

When bError turns to True.

When bCommandAborted turns to True.
bCommandAborted
 When the instruction is aborted.

When bExecute turns to False.
 If bExecute is False and bCommandAborted is
True, bCommandAborted will immediately

Delta AX Series Specifications

General

Brand	Delta
Model	AX Series
Category	Controller
Language	English