Delta AX Series User Manual

AX-Series Motion Controller Instructions Manual Chapter 2
172
Name Function Data Type
Setting Value
(Default Value)
Timing to Take Effect
lrDeceleration
Deceleration rate
(Unit: user unit/s
2
)
LREAL Positive (0)
When bEnable turns
to True and Busy is
False.
lrJerk
Jerk value.
(Unit: user unit/s
3
)
LREAL Positive (0)
When bEnable turns
to True and Busy is
False.
Direction
Specifies the motion direction of
the servo motor.
MC_
DIRECTION
*2
3: fastest
2: current
1: positive
0: shortest
-1: negative
(current)
*3
When bEnable turns
to True and Busy is
False.
*Note:
1. After bContinuousUpdate has started, change the speed, and acceleration & deceleration will immediately take effect.
2. MC_DIRECTION: Enumeration (ENUM).
3. The options fastest, current and shortest are only for the rotary axis.
 Outputs
Name
Function
Data Type
Output Range Value (Default Value)
bInVelocity
True when the specified target
velocity is reached.
BOOL True/False (False)
bBusy
True when the instruction is
run.
BOOL True/False (False)
bCommandAborted
True when the instruction is
interrupted.
BOOL
True/False (False)
bError
True when an error occurs.
BOOL
True/False (False)
ErrorID
Record the error code when an
error occurs. Refer to
Appendix for error code
descriptions.
DMC_ERROR* DMC_ERROR (DMC_NO_ERROR)
*Note: DMC_ERROR: Enumeration (ENUM)
 Output Update Timing
Name
Timing for shifting to True
Timing for shifting to False
bInVelocity
 When the specified target velocity is
reached.

When bCommandAborted turns to True.
 When bContinuousUpdate
is True. and
lrVelocity value is changed.
 When bEnable turns to False.

When bError turns to True.
bBusy
 When bEnable turns to True.

When bCommandAborted turns to True.

When the axis decelerates to a stop after
bEnable turns to False.

When bError turns to True.

Delta AX Series Specifications

General

Brand	Delta
Model	AX Series
Category	Controller
Language	English