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 - 9 3
7_
7.7.5.5 Axis Direction
The following situation requires specified operation directions:

When input value of absolute during contant velocity, specified direction is required.

When setting rotation axis, movement towards either postivie or negative direction can reach the target
position, therefore, operation direction is required.

Description of directions in MC function modules
The following input variable that is related to direction in MC function modules:
Item Setting Meaning
Direction
negative Motion operates in a negative direction
shortest Motion operates the shortest way (Only for rotation axis)*
positive Motion operates in a positive direction
current Motion operates based on the current direction (Only for rotation axis)
fastest Motion operates in the fastest way (Only for rotation axis)*
*Note: The concept of shortest (moving distance) and fastest (moving time) are similar but not completely the
same, please refer to the following example:

Setup:
Set axis as rotation axis, range 360
。
Set velocity ramp type of axis as Trapezoid.

Procedure:
Use MC_MoveVelocity to execute constant velocity motion. (Velocity=1000)
When motor reaches 350 and velocity reaches 1000, execute MC_MoveAbsolute with 2 different direction
settings
(1) Execute MC_MoveAbsolute (Position=180, Velocity = Acceleration = Deceleration = 1000, Direction =
fatest)
When MC_MoveAbsolute.Execute triggers, the system determines the shortest way to reach position 180 is to
move in positive direction and decrease velocity to 0. The process takes about 1 sec.