Delta AX Series User Manual

AX-Series Motion Controller Instructions Manual Chapter 2
66
2. MC_TP_REF: Structure(STRUCT).
Name Function Data Type
Setting Value (Default
Value)
Number_of_pairs
There’s no need
to set this
variable, which
has been
replaced by
InputsArraySize.
INT -
IsAbsolute
Set the mode of
position.
BOOL
True: Absolute mode
False: Relative mode
(True)
MC_TP_Array
Time and
position data
during execution
of instruction.
ARRAY [1..100] OF SMC_TP SMC_TP*
*Note: SMC_TP: Structure(STRUCT).
Name
Function
Data Type
Setting Value (Default Value)
delta_time
Period of time between
position points
TIME Positive or 0(TIME#0ms)
position
Position of the position
point
LREAL Negative, positive or 0(0)
 Function
 MC_PositionProfile carries out motion profile with time and position according to the user-defined data in TimePosition
variables, the state is Discrete Motion during the movement.
 MC_MoveSuperimposed will not be able to function while MC_PositionProfile is being used.
 Troubleshooting
 If an error occurs during the execution of the instruction, Error will change to True. You can refer to ErrorID (Error
Code) to address the problem.
 Example
 The example below describes the behavior of MC_PositionProfile instruction.
Configure for the curve of motion profile:

Delta AX Series Specifications

General

Brand	Delta
Model	AX Series
Category	Controller
Language	English