Delta AX-3 Series, Operation Manual

Page: 264 / 370

A X - 3 S e r i e s O p e r a t i o n M a n u a l
7 - 1 4 6
_7

ST language
MC_Home_0(
Axis:= Axis_1,
Execute:= ,
Position:= 0,
Done=> ,
Busy=> ,
CommandAborted=> ,
Error=> ,
ErrorID=> );
MC_MoveAbsolute_0(
Axis:= Axis_1,
Execute:= MC_MoveAbsolute0_Execute,
Position:= 50000,
Velocity:= 10000,
Acceleration:= 100000,
Deceleration:= 100000,
Jerk:= 100000,
Direction:= SM3_Basic.MC_DIRECTION.positive,
Done=> ,
Busy=> ,
CommandAborted=> ,
Error=> ,
ErrorID=> );
7.8.2.7 Switch CAM Table during CAM Operation
The following example illustrates that CAM table can be switched while executing MC_CamIn.
Perform switching between two CAM tables configured with different output parameters by adding master and
slave axes as well as using two MC_CamIn instructions. Use CamTable 1 when the instruction position of master
axis is below 3000. Once the position is over 3000, it will switch to CamTable 2.

Main variables used in programming
Variable Data Type
Default
Note
Axis_Master AXIS_REF_VIRTUAL_SM3 - Master-related axis variables
Axis_Slave AXIS_REF_VIRTUAL_SM3 - Slave-related axis variables
CamTable1 MC_CAM_REF - Relating variables for Cam table1
CamTable2 MC_CAM_REF - Relating variables for Cam table2
StartFlag BOOL FALSE
If this variable is TRUE and the
communication with axes is normal, Servo
ON will be activated and continue on
further actions.
MC_Power0_Status BOOL FALSE
Status output variables of MC_Power for
master, TRUE when Servo On
MC_Power1_Status BOOL FALSE
Status output variables of MC_Power for
slave, TRUE when Servo On