Delta AX Series User Manual

AX-Series Motion Controller Instructions Manual Chapter 2
443
Name Timing for shifting to True Timing for shifting to False
change to False after maintaining a True state
for a scan cycle.
bError

When an error occurs in the execution
conditions or input values for the
instruction.
 When bExecute turns to False. (Error Code is
cleared)
ErrorID
 Timing Diagram
 Inputs/Outputs
Name Function Data Type
Setting Value
Timing to Take Effect
Axis
Specify the
axis.
AXIS_REF_DML
*
AXIS_REF_DML
When bExecute turns to True and bBusy is
False.
*Note:
AXIS_REF_DML (FB): All function blocks contain this variable, which works as the starting program for function blocks.
 Function
 When bExecute of the instruction turns to True, the target torque (lrTorque), torque ramp (dwTorqueRamp) and
maximum velocity (lrVelocity) will be sent to the servo for servo torque control.
 When bExecute is True, the instruction is run for a velocity-constant motion according to the specified target velocity
(lrVelocity), acceleration rate (lrAcceleration) and deceleration rate (lrDeceleration).
 The executing MC_TorqueControl_DML can be aborted by executing another motion instruction.
 When MC_TorqueControl_DML is aborted by another motion instruction, the output bInTorque will shift to False and
the output bCommandAborted will shift to True.
 When bExecute of MC_TorqueControl_DML turns to True, the axis starts to move according to the target velocity. Even
if bExecute turns to False, the instruction execution will not be affected.
 When bExecute of MC_TorqueControl_DML turns to True again and a new lrTorque value is set, the torque of the axis
is adjusted to the new torque value.
 When its bExecute turns to False after the instruction is run and the target torque is reached, bInTorque of
MC_TorqueControl_DML turns to True. Afterward, bInTorque will remain True until it is aborted by another instruction.
 When using C2000+ or CH2000 Series AC Motor Drives, it is necessary to configure 0x6064 (Position actual value)
and 0x6077 (Torque actual value) to the Slave PDO (Process data) mapping data.
 Troubleshooting
bEnable
bInTorque
bBusy
bCommandAborte
bError

Delta AX Series Specifications

General

Brand	Delta
Model	AX Series
Category	Controller
Language	English