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Delta AX Series User Manual
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AX
-
Se
ri
es Motion Cont
r
oll
er
Inst
ruct
ions
Manual
Chapter 2
444
W
he
n an
error occu
r
s in the
execution of the in
struction,
bError
wil
l change
to T
rue.
T
o confirm
th
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c
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r
r
en
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err
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ee t
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e Er
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o
r C
ode i
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rrorI
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.
Progra
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e exa
m
pl
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ef
er
t
o th
e p
r
o
gr
am
m
i
ng exam
p
l
e
o
f the
D
MC_T
orqueCont
rol func
ti
on b
lock.
For function block
Axis param
e
ters,
enter
that of
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he po
sitioning axis.
448
450
Table of Contents
TOC
4
Preface
6
P.1 Introduction
6
P.1.1 Applicable Products
6
P.1.2 Associated Manuals
6
Chapter 1 Introduction to Motion Control
7
1.1 Introductions of Motion Control
8
1.1.1 Basic Knowledge of Motion Control Instructions
8
1.2 Categories of Motion Control Instructions
11
1.3 Overview of Delta Motion Instructions Library
12
Chapter 2 Motion Control Instruction
13
2.1 Motion Control Instructions
14
2.1.1 MC_Home
14
2.1.2 MC_Stop
18
2.1.3 MC_Halt
21
2.1.4 MC_MoveAbsolute
25
2.1.5 MC_MoveRelative
31
2.1.6 MC_MoveAdditive
35
2.1.7 MC_MoveSuperImposed
39
2.1.8 MC_CamIn
43
2.1.9 MC_CamOut
60
2.1.10 MC_MoveVelocity
64
2.1.11 MC_PositionProfile
69
2.1.12 MC_VelocityProfile
73
2.1.13 MC_AccelerationProfile
77
2.1.14 MC_Jog
81
2.1.15 MC_GearIn
84
2.1.16 MC_GearOut
88
2.1.17 MC_GearInPos
93
2.1.18 MC_Phasing
99
2.2 Administrative Motion Control Instructions
104
2.2.1 MC_Power
104
2.2.2 MC_SetPosition
109
2.2.3 MC_ReadParameter
114
2.2.4 MC_WriteParameter
117
2.2.5 MC_ReadBoolParameter
120
2.2.6 MC_WriteBoolParameter
123
2.2.7 MC_ReadActualPosition
126
2.2.8 MC_ReadActualVelocity
129
2.2.9 MC_ReadActualTorque
132
2.2.10 MC_Reset
133
2.2.11 MC_ReadStatus
136
2.2.12 MC_ReadAxisError
141
2.2.13 MC_CamTableSelect
144
2.2.14 MC_TouchProbe
148
2.2.15 MC_AbortTrigger
154
2.2.16 MC_DigitalCamSwitch
158
2.2.17 SMC_BacklashCompensation
165
2.3 Delta Motion Control Instructions
171
2.3.1 Motion Control Instructions
171
2.3.1.1 DMC_TorqueControl
171
2.3.1.2 DMC_VelocityControl
176
2.3.1.3 DMC_MoveLinearAbsolute
181
2.3.1.4 DMC_MoveLinearRelative
186
2.3.1.5 DMC_MoveCircularAbsolute
191
2.3.1.6 DMC_MoveCircularRelative
199
2.3.1.7 DMC_GroupStop
206
2.3.1.8 DMC_GroupHalt
210
2.3.1.9 DMC_Home_P
216
2.3.1.10 DMC_ImmediateStop_P
221
2.3.1.11 DMC_MoveVelocityStopByPos
223
2.3.1.12 DMC_GroupInterrupt
229
2.3.1.13 DMC_GroupContinue
233
2.3.1.14 DMC_MoveLink
236
2.3.1.15 DMC_MoveFeed
245
2.3.1.16 DMC_GroupReadSetPosition
253
2.3.1.17 DMC_GroupReadActPosition
256
2.3.1.18 DMC_GroupJog
259
2.3.1.19 DMC_MoveDirectAbsolute
264
2.3.1.20 DMC_MoveDirectRelative
270
2.3.1.21 DMC_MoveModulo
273
2.3.1.22 DMC_Home_E
279
2.3.2 Administrative Instructions
284
2.3.2.1 DMC_GroupEnable
284
2.3.2.2 DMC_GroupDisable
290
2.3.2.3 DMC_GroupReadParameter
293
2.3.2.4 DMC_GroupWriteParameter
296
2.3.2.5 DMC_GroupReadStatus
300
2.3.2.6 DMC_GroupReadError
305
2.3.2.7 DMC_GroupReset
308
2.3.2.8 DMC_CamReadTappetStatus
310
2.3.2.9 DMC_CamReadTappetValue
316
2.3.2.10 DMC_CamWriteTappetValue
321
2.3.2.11 DMC_CamAddTappet
326
2.3.2.12 DMC_CamDeleteTappet
331
2.3.2.13 DMC_CamReadPoint
335
2.3.2.14 DMC_CamWritePoint
339
2.3.2.15 DMC_ChangeMechanismGearRation
343
2.3.2.16 DMC_ReadMotionState
347
2.3.2.17 DMC_AxesObserve
352
2.3.2.18 MC_PositionLag
357
2.3.2.19 DMC_SetTorqueLimit
361
2.3.2.20 DMC_SetSoftwareLimit
364
2.3.2.21 DMC_CamKeyPointWrite
367
2.3.2.22 DMC_TouchProbeCyclically
375
2.3.2.23 DMC_CAMBounds
383
2.3.2.24 DMC_AddAxisToGroup
387
2.3.2.25 DMC_RemoveAxisFromGroup
391
2.3.2.26 DMC_UngroupAllAxes
394
2.3.2.27 DMC_GroupPower
396
2.3.2.28 DMC_GroupSetOverride
399
2.3.2.29 DMC_GetCamSlaveData
403
2.3.3 Positioning Axis Instructions
406
2.3.3.1 MC_Power_DML
408
2.3.3.2 MC_Stop_DML
410
2.3.3.3 MC_Reset_DML
413
2.3.3.4 MC_Halt_DML
416
2.3.3.5 MC_Home_DML
419
2.3.3.6 MC_MoveAbsolute_DML
422
2.3.3.7 MC_MoveRelative_DML
425
2.3.3.8 MC_MoveVelocity_DML
428
2.3.3.9 MC_WriteBoolParameter_DML
430
2.3.3.10 MC_ReadBoolParameter_DML
434
2.3.3.11 MC_WriteParameter_DML
437
2.3.3.12 MC_ReadParameter_DML
440
2.3.3.13 MC_ReadStatus_DML
443
2.3.3.14 MC_TorqueControl_DML
446
2.3.3.15 MC_ChangeAxisConfig_DML
450
2.3.3.16 MC_ReinitDrive_DML
453
2.3.3.17 MC_VelocityControl_DML
456
2.3.4 Tension Control
460
2.3.4.1 R2R_Configuration
461
2.3.4.2 R2R_RollDiameter
467
2.3.4.3 R2R_Run
472
2.4 Industry-Specific Instructions
484
2.4.1 Servo Press Instruction
484
2.4.1.1 DFC_SP_DegreeToHeight
484
2.4.1.2 DFC_SP_HeightToDegree
487
2.4.1.3 DMC_SP_CamCoinCurve
490
2.4.1.4 DMC_SP_CamCrankCurve
495
2.4.1.5 DMC_SP_CamCurveWrite
499
2.4.1.6 DMC_SP_CamLinkCurve
506
2.4.1.7 DMC_SP_CamPendulumCurve
511
2.4.1.8 DMC_SP_CamPulse1Curve
515
Appendix A
521
A.1 Instruction Tables and Indexes
521
A.1.1 By Function
521
A.1.2 By Model
527
A.1.3 By Letter
529
A.2 Data Type: Enumeration and Structure
531
A.3 Error Codes and Troubleshooting
536
A.3.1 For Synchronous Axes
536
A.3.2 For Positioning Axis
554
A.4 Explanation of DMC_Home_P
558
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Delta AX Series Specifications
General
Brand
Delta
Model
AX Series
Category
Controller
Language
English
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