Delta AX Series User Manual

AX-Series Motion Controller Instructions Manual Chapter 2
495
DMC_CamKeyPointWrite
Array
bExecute is at rising-edge
bAccEnable
Acceleration Enable
Configurations for
DMC_CamKeyPointWrite
WORD Array
[0..63]
BOOL(FALSE)
bBusy=FALSE &
bExecute is at rising-edge
lrAccValue
Acceleration Value for
DMC_CamKeyPointWrite
[0..63] LREAL
Array
LREAL*
1
(0)
bBusy=FALSE &
bExecute is at rising-edge
wWriteAmount
Key-points write amount for
DMC_CamKeyPointWrite
WORD 2~64(0)
bBusy=FALSE &
bExecute is at rising-edge
bDetectMotionInvert
Enable detecting motion invert
functionality
BOOL False/True (False)
bBusy=FALSE &
bExecute is at rising-edge.
lrTolerenceOfDegree*
4
The tolerance invert degree
during motion between two key-
points
LREAL 0~180(0)
bBusy=FALSE &
bExecute is at rising-edge.
*Note1: LREAL Range:
Positive values: -1.7976931348623157E+308 to -4.9406564584124654E-324
Zero: 0
Negative values: 4.9406564584124654E-324 to 1.7976931348623157E+308
*Note2: CAM Curve Types (0 ~ 9)
Straight line (0)
Quadratic Parabola (1)
5th Polynomial (2)
Basic Sine (3)
Inclined Sine (4)
Mod_Acc Sine (5)
Mod_Acc Trapezoidal (6)
Cubic_Spline_Nature (7)
Cubic_Spline_Clamp (8)
Cubic_Spline (9)
*Note3: DMC_SP_MACHINE_PARAMETERS
Name Function Data Type Setting Value
lrRLength Crank length (unit: mm), provided by
machine maker
LREAL Positive
lrLLength Link length(unit: mm), provided by
machine maker
LREAL lrLLength > (2 *
lrRLength)
lrSPMsys Virtual master-axis’s SPM. (six times
lrSPMsys is equal to the unit
deg/sec)
LREAL Positive
lrGearRatio Reduction gear ratio LREAL Positive
lrRPMmotor Max RPM of the motor LREAL Positive
*Note4 :
When bDetectMotionInvert is set as FALSE, lrTolerenceOfDegree will be ignored.
 Outputs
Name
Function
Data Type
Output Range (Default Value)
bDone
Status when FB finish writing ECAM table
and calculating ECAM velocity upper bound
value
BOOL False/True (False)

Delta AX Series Specifications

General

Brand	Delta
Model	AX Series
Category	Controller
Language	English