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
7 - 4 0
_7
7.5 Motion Axis Variables
7.5.1
Variable
s for Single Axis
After creating axes in the Project tree with DIADesigner_AX, the corresponding axis parameters (read-only) will
be generated automatically. Axes are categorized into two types: synchronous axis (Axis_REF_SM3) and
positioning axis (Axis_REF_DML), which are set out in the following table

Synchronous axis (Axis_REF_SM3)
Numbering Name Data type
Default
value
Description
1000 nAxisState
SMC_AXIS_
STATE(INT)
Standstill
(3)
Operating state of the current axis
according to MC_ReadStatus
1012 bCommunication BOOL FALSE
When communication is normal (refer
as True), if disconnected (refer as
False)
1014 uiDriveInterfaceError UINT 0
When Driver Interface detects an error,
Error Handling occurs
1021 wDriveId WORD Driver
The number in driver nodes on the
Field bus
1025 fTaskCycle LREAL Driver EtherCAT cycle time of task
1035 fbeFBError
ARRAY
[0..g_SMC_
NUMBER_F
B_ERRORS
]
OF
SMC_FBER
ROR
0 Axis-related error table
1040 bVirtual BOOL FALSE True: virtual axis ; false: real axis
1051 iRatioTechUnitsNum DINT 1
Change gear ratio in axis setting
(denominator)
1052
dwRatioTechUnits
Denom
DWORD 1
Change gear ratio in axis setting
(numerator)
1060 iMovementType INT 1
0 = Modulo
1 = Finite
1061 fPositionPeriod LREAL 1000 Max movement distance of rotary axis
1062 eRampType
SMC_RAMP
TYPE
Trapez
Velocity ramp type:

Trapeziod

sin^2

Quadtatic