Delta AX Series User Manual

AX-Series Motion Controller Instructions Manual Chapter 2
70
*Note:
1. AXIS_REF_SM3(FB): Every function block contains this variable, which works as the starting program for function blocks.
2. MC_TV_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There’s no need to set this variable, which has been
replaced by InputsArraySize.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 velocity. BOOL
True: Absolute mode
False: Relative mode
(True)
MC_TV_Array
Time and velocity data during execution of
instruction.
ARRAY [1..100] OF
SMC_TV
SMC_TV*
*Note: SMC_TV: Structure(STRUCT).
Name
Function
Data Type
Setting Value (Default Value)
delta_time
Period of time between
position points
TIME Positive or 0(TIME#0ms)
velocity
Velocity of the position
point
LREAL Negative, positive or 0(0)
 Function
 MC_VelocityProfile carries out motion profile with time and velocity according to the user-defined data in TimeVelocity
variables, the state is Continuous Motion during the movement.
 MC_VelocityProfile will not be able to function while MC_PositionProfile is being used.
 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_VelocityProfile.
Configure for the curve of motion profile:

Delta AX Series Specifications

General

Brand	Delta
Model	AX Series
Category	Controller
Language	English