Delta AX Series User Manual

AX-Series Motion Controller Instructions Manual Chapter 2
507
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
 Outputs
Name Function Data Type
Output Range (Default
Value)
bDone
Status when FB completed generating
pendulum key-points
BOOL False/True (False)
bBusy Status when FB is generating key-points BOOL False/True (False)
bError
Status when FB has problems generating
key-points
BOOL False/True (False)
dwErrorID Error code of this FB DWORD
16#00000000~16#FFFF
FFFF (16#00000000)
lrMasterPoint
Master positions for
DMC_SP_CamCurveWrite
[0..63] LREAL Array 0.0 ~ 360.0 (0.0)
lrSlavePoint
Slave positions for
DMC_SP_CamCurveWrite
[0..63] LREAL Array 0.0 ~ 360.0 (0.0)
CamCurveType
Cruve type between key-points for
DMC_SP_CamCurveWrite
[0..62]
DMC_CamCurveType
Array
0 ~ 9
*2
(0)
bVelEnable
Velocity Enable Configurations for
DMC_SP_CamCurveWrite
[0..63] BOOL Array False/True (False)
lrVelValue
Velocity Value for
DMC_SP_CamCurveWrite
[0..63] LREAL Array LREAL (0)
bAccEnable
Acceleration Eanble Configurations for
DMC_SP_CamCurveWrite
[0..63] BOOL Array False/True (False)
lrAccValue
Accerleration Value for
DMC_SP_CamCurveWrite
[0..63] LREAL Array LREAL (0)
wWriteAmount Key Point value WORD 0~64 (0)
lrSlaveStartDegree
Based on MachParameters.lrRLength,
MachParameters.lrLLength, and
lrHeightStart to calculate out the angel of
slave-axis (via DFC_SP_HeightToDegree).
LREAL*
1
0.0~180.0 (0)
*Note1: LREAL Range:
Positive values: -1.7976931348623157E+308 to -4.9406564584124654E-324
Zero: 0

Delta AX Series Specifications

General

Brand	Delta
Model	AX Series
Category	Controller
Language	English