Delta AX Series - Page 115

AX-Series Motion Controller Instructions Manual Chapter 2
110
Name Timing for Shifting to True Timing for Shifting to False
Valid

When Enable is triggered to True.
 When the parameter to read exists.

When Enable turns from True to False.
 When Error is rising edge.
Busy

When Enable is triggered to True.

When the parameter to read exists.

When Enable turns from True to False.

When Error is rising edge.
Error
 When an error occurs in executing conditions
or input values.
 When Execute turns from True to False. (Error
Code is cleared)
ErrorID
Value

When Valid is True and there’re ongoing
updates.
 When Valid is False and stops updating.
 Timing Diagram
*Note: Data = parameter’s value. One cycle = one task period
 Inputs/Outputs
Name Function Data Type Setting Value (Default Value) Timing to Take Effect
Axis
Specify the axis.
AXIS_REF_SM3*
AXIS_REF_SM3
When Enable is True.
*Note: AXIS_REF_SM3(FB): Every function block contains this variable, which works as the starting program for function blocks.
 Function
 How to use MC_ReadParameter to read the parameter values of the desired object with its parameter number in
EtherCAT Object Dictionary:
 Use SHL instruction to move the data length of the desired object to the left for 24 bits.
 Use SHL instruction to move the index of the desired object to the left for 8 bits.
 The input ParameterNumber must contain the data length of the index and the subindex. Refer to the following
formula:
ParameterNumber: = - DWORD_TO_DINT(SHL(TO_DWORD(data length of object dictionary), 24) +
SHL(TO_DWORD(index of object dictionary), 8) + object sub-index);
 To read axis parameters, you’ll need to enter the parameter number of AXIS_REF_SM3(FB) into the ParameterNumber
input.
 Troubleshooting
 If an error occurs during the execution of the instruction, Error will change to True. You can refer to ErrorID (Error