Delta AX-3 Series, Руководство по эксплуатации

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A X - 3 S e r i e s O p e r a t i o n M a n u a l
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7.4 Motion Control Device
7.4.1 Overview
Motion control devices are mainly used for configuring parameters for motion axis. In most applications, you can
set up axis parameters in DIADesigner-AX software, a convenient environment for you, where axis parameters
required for configuring motion control on axis are defined as Structure. A Structure is a data type applicable to
group the data elements together.
7.4.2 Introduction to Axis
The axis is used to perform motion control in the system and includes real servo drives, encoders and virtual servo
drives. The following table shows the axis types:
Type Comments
Positioning axis
*1
Achieve basic positioning control via EtherCAT, such as functions of
absolute positioning, relative positioning, and etc.
Synchronous axis
*2
Achieve servo motor control and basic positioning control via EtherCAT,
as well as synchronous motion control like electronic cam function.
Pulse-type axis Achieve real servo motor control with pulses.
Virtual axis Execute motion control commands without using real servo motor.
Encoder axis Use real encoder (SSI or incremental encoder) as feedback signals.
Virtual encoder axis Can only be used in the program without encoders.
*Note 1:

Positioning axes must match the function library of DL_MotionControlLight.

When uses Ethercat with AX-364EL and the number of axes exceeds 64, parameters of
MAX_MAILBOX_CHANNELS and MaX_SDO_Channels in the Library (IODrvEtherCat

ETC_Parameter)
must be chamged to 128..
*Note 2: Synchronous axes must match DL_MotionControl and the function library of SM3_Basic.
7.4.2.1 About Axis Parameters
After creating a servo axis, the corresponding axis parameters will be generated as well. The following table
details the relating description.

Synchronous Axis