Delta AX Series User Manual

AX-Series Motion Controller Instructions Manual Chapter 2
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2.3.3 Positioning Axis Instructions
The function blocks in this section come from the function library DL_MotionControlLight. The drive handles the main motion curve
planning and calculation of function blocks. So select the positioning axis when setting the axis. Refer to section 7.4 in AX-3 Series
Operation Manual for related settings on a positioning axis.
 Positioning axis speed range introduction
The positioning axis speed range is related to the speed range in the EtherCAT servo drive. Tak e the A2-E servo as an
example. The servo drive speed unit is rpm, and the acceleration and deceleration time unit is ms.
 Gear ratio of the DIA-AX software end
 Take the above figure as a calculation example
Factor =（
/ ）*（ / ）
The maximum speed and maximum acceleration and deceleration range of the function block are calculated as follows:
Max. lrVelocity
= allowable rated rpm of servo drive / 60 * servo motor one-round resolution / Factor
Max. lrAcceleration
= speed time allowable range / fastest acceleration time for the servo drive
Max. lrDeceleration
= speed time allowable range / fastest deceleration time for the servo drive
 Example:
If
- A2-E servo drive allowable rated speed is 3,000 rpm
- A2-E servo motor one-round resolution is 1,280,000 (P1-44 = 1， P1-45 = 1)
- The fastest acceleration and deceleration time is 1 ms for EtherCAT OD 0x6083 and 0x6084
- DIA-AX Factor = 128, then
Max. lrVelocity = 3000/60*128000/128 = 500000 unit/s
Max. lrAcceleration = Max. lrDeceleration = 500000 / (1/1000) = 500000000 unit/s2
*Note: When the conversion unit exceeds the pulse unit, it will run at the maximum allowable pulse unit of the drive.

Delta AX Series Specifications

General

Brand	Delta
Model	AX Series
Category	Controller
Language	English