Delta AX-3 Series, Руководство по эксплуатации

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C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n
7 - 6 9
7_
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Rotary axes setting
- After choosing “Rotary Axis” for axis type, set the angle of rotation for rotary axis in “
Modulo value”
area.
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Relative positioning
The curves for motion planning allos axis to move to the relative coordinates of the target position in relation
to the actual position. Please refer to MC_MoveRelative function block for more information.
The following figure shows the motion trajectory for relative positioning.
7.7.2.4 Stop Method
The stopping state includes using motion instructions or enabled limit input as well as error stop input to stop axis
operation. The stop behavior regarding clear error and limit input differs depending on the servo drives.
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Using motion instructions to stop
To stop single-axis movement, use MC_Stop or MC_Halt instruction.
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MC_Stop
- MC_Stop stops an axis in motion based on specified method and changes the state to “Stopping”.
- The instruction aborts any instructions in execution. When the axis state is “Stopping”, no instructions can be
executed.