Delta AX Series User Manual

AX-Series Motion Controller Instructions Manual Chapter 2
74
axis.
Busy is False.
TimeAcceleration
Time and
acceleration
during
execution.
MC_TA_REF*
2
MC_T_REF
When Execute turns to True and
Busy is False.
*Note:
1. AXIS_REF_SM3(FB): Every function block contains this variable, which works as the starting program for function blocks.
2. MC_TA_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variable, which has been
replaced by InputsArraySize.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 acceleration. BOOL
True: Absolute mode
False: Relative mode
(True)
MC_TA_Array
Time and acceleration data during
execution of instruction.
ARRAY [1..100] OF SMC_TA SMC_TA*
*Note: SMC_TA: Structure(STRUCT).
Name
Function
Data Type
Setting Value (Default Value)
delta_time
Period of time between
position points
TIME Positive or 0(TIME#0ms)
acceleration
Acceleration of the
position point
LREAL Negative, positive or 0(0)
 Function
 MC_AccelerationProfile carries out motion profile with time and acceleration according to the user-defined data in
TimeAcceleration variables, the state is Continuous Motion during the movement.
 MC_MoveSuperimposed cannot add a specific distance to an existing motion of MC_AccelerationProfile.
 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_AccelerationProfile.

Delta AX Series Specifications

General

Brand	Delta
Model	AX Series
Category	Controller
Language	English