AX-Series Motion Controller Instructions Manual Chapter 2
512
lrLLength
Link length, provided by machine
maker
LREAL
lrLLength > (2 *
lrRLength)
lrSPMsys
Virtual master-axis’s SPM. (six
times lrSPMsys is equal to the
unit deg/sec)
LREAL Positive
lrGearRatio Reduction gear ratio LREAL Positive
lrRPMmotor Max RPM of the motor LREAL Positive
Outputs
Output Range (Default Value)
bDone
True when FB finish generating key-
points
BOOL False/True (False)
bBusy
True when FB is busy to generate
key-pionts
BOOL False/True (False)
bError
True when FB has problems
generating key-points
BOOL False/True (False)
dwErrorID Error code when running FB DWORD
16#00000000~16#FFFFFFF
F(16#00000000)
lrMasterPoint
Master positions for
DMC_SP_CamCurveWrite
[0..63] LREAL Array 0.0 ~ 360.0(0.0)
lrSlavePoint
Slave positions for
DMC_SP_CamCurveWrite
[0..63] LREAL Array 0.0 ~ 360.0(0.0)
CamCurveType
Key point to key point curve type for
DMC_SP_CamCurveWrite
[0..62]
DMC_CamCurveTyp
e Array
*1
0 ~ 9
*2
(0)
bVelEnable
Velocity Enable Configurations for
DMC_SP_CamCurveWrite
[0..63] BOOL Array TRUE/FALSE (FALSE)
lrVelValue
Velocity Value for
DMC_SP_CamCurveWrite
[0..63] LREAL Array LREAL
*1
(0)
bAccEnable
Acceleration Eanble Configurations
for DMC_SP_CamCurveWrite
[0..63] BOOL Array TRUE/FALSE (FALSE)
lrAccValue
Accerleration Value for
DMC_SP_CamCurveWrite
[0..63] LREAL Array LREAL
*1
(0)
wWriteAmount
Key Point value for
DMC_SP_CamCurveWrite
WORD 0~64(0)
*Note: Curve Type (0 ~ 9)
Straight line (0)
Quadratic Parabola (1)
5th Polynomial (2)
Basic Sine (3)
Inclined Sine (4)
Mod_Acc Sine (5)
Mod_Acc Trapezoidal (6)
Cubic_Spline_Nature (7)