Delta Standard AX Series User manual

AX Ser ies -Stan dar d Instruc tio ns Ma nua l Rev isi on H ist or y

AX Series-Standard Instructions Manual Revision History
Revision History
Version
Revision
Date
1st The first version was published. 2020/10/30
2nd
1. Updated CH3:
•Added supported products AX-364E & AX-324N for DFB_Capture,
DFB_Compare, DFB_HCnt, DFB_HTmr, DFB_PresetValue,
DFB_Sample
•Updated library DL_BuiltInIO_AX3.library for DFB_Capture,
DFB_Compare, DFB_HCnt, DFB_HTmrr, DFB_PresetValue,
DFB_Sample
•Updated “dwTimerValue” unit
2. Updated CH4:
•Added supported product AX-364E for DFB_EcGetAllSlaveAddr,
DFB_EcGetSlaveCount, DFB_EtherCATLink_Diag,
DFB_GetAllECATSlaveInfo, DFB_GetECATMasterError,
DFB_GetECATMasterState, DFB_ResetECATMaster,
DFB_ResetECATSlave
3. Updated CH6:
•Added supported products AX-364E, AX-300, and AX-324N for
DFB_From, DFB_To
4. Updated CH7:
•Added supported products AX-364E,AX-300, and AX-324N for
DFB_ModbusComChannel, DFB_ModbusRequest,
DFB_ModbusRequest2
“DFB_MR_ERROR“ update
•Added DFB_SLAVE_DEVICE_FAILURE, DFB_ACKNOWLEDGE,
DFB_SLAVE_DEVICE_BUSY, DFB_GATEWAY_PATH_UNAVAILABLE,
DFB_GATEWAY_DEVICE_FAILED_TO_RESPOND
•Removed DFB_NO_MDBSCOM_CONFIG
•Updated DFB_ILLEGAL_DATA_VALUE
5. Updated CH8:
•Added supported products AX-364E, AX-300, and AX-324N for
DFB_TCP_Client, DFB_TCP_Server, DFB_UDP_Socket,
DFB_ModbusTCPChannel, DFB_ModbusTCPRequest
“DFB_MR_ERROR“ update
•Added DFB_SLAVE_DEVICE_FAILURE, DFB_ACKNOWLEDGE,
DFB_SLAVE_DEVICE_BUSY, DFB_GATEWAY_PATH_UNAVAILABLE,
DFB_GATEWAY_DEVICE_FAILED_TO_RESPOND,
DFB_INVALID_FUNCTION_CODE, DFB_NO_ETHERNET_CONFIG
2021/02/28

AX Series-Standard Instructions Manual Revision History
Version
Revision
Date
•Removed DFB_NO_MDBSETH_CONFIG
•Updated DFB_ILLEGAL_DATA_VALUE,
DFB_MEMORY_NOT_ENOUGH
6. Updated CH9:
•Added supported products AX-364E, AX-300, and AX-324N for
DFB_MemoryRead, DFB_MemoryWrite
7. Added CH10 High Speed Output Instructions
8. Updated CH11:
•Added supported products AX-364E, AX-300, and AX-324N for
DFC_LogGetSize, DFB_LogDump
3rd
1. Updated Section 1.1: Added Setting Value range of wNum
2. Updated Section 2.5: Updated input pin note
3. Updated Section 4.3: Updated DFB_EtherCATLink_Diag library:
DL_EtherCAT_Diag.library
4. Added Section 6.3 ~ Section 6.19: DFB_DLCCAL, DFB_DLCWEI,
DFB_DPUCONF, DFB_PUSTAT, DFB_DPUPLS, DFB_DPUPLS,
DFB_DPUDRI, DFB_DPUDRA, DFB_DPUZRN, DFB_DPUJOG,
DFB_DPUCNT, DFB_DMPID library: DL_ASModuleAPI_AX3.library,
DFB_DHCCNT, DFB_DHCCAP, DFB_HCDO, DFB_DHCCMP, DFB_DHCCMPT,
DFB_DHCMEAS
5. Updated Section 7.3: Added Notes 4 & 5
6. Updated Section 7.4: Added Notes 1 & 2
7. Updated Sections 8.1, 8.2, and 8.3: Updated example program
8. Updated Sections 8.1 ~ 8.5: Added Function notes
2021/07/31
4th
1. Updated Section 5.1~5.3:
Corrected output Error_ID data type
Adjusted dwLen Input to wLen
Updated Input pSrc range and added notes
Updated error code description
2. Added Section 6.20 ~ 6.21: DFB_DADLOG, DFB_DADPEAK
3. Updated Section 6.22:
Added DFB_DADLOG, DFB_DADPEAK error codes
4. Updated Section 9.2: Updated Input FileInfo data type
5. Updated Section 9.3: Updated error code content
6. Updated Section 11.3: Updated error code content, added
DFB_FTPClient
2022/06/01
5th
1. Update Section 3.1: Added bEdgeSelect and bCycle.
2. Update Section 3.2: Added OutputAction, diTablePosition, diTableSize.
3. Update Section 3.3: Added xUD_Select, bTriggerMode.
2023/03/31

AX Series-Standard Instructions Manual TOC
TOC
P1 Preface ........................................................................................................... 1
P1.1 Introduction ...................................................................................................................... 2
P1.1.1 Applicable Products ....................................................................................... 2
P1.1.2 Associated Manuals..................................................................................... 2
1. Move Instructions ...................................................................................................... 3
1.1 DFC_NIBMOV .................................................................................................................... 4
1.2 DFC_XCH.......................................................................................................................... 7
1.3 Error Code and Troubleshooting ............................................................................................ 9
2. Comparison Instructions............................................................................................... 10
2.1 DFC_CMP........................................................................................................................ 11
2.2 FC_UCMP........................................................................................................................ 13
2.3 DFC_LRCMP .................................................................................................................... 15
2.4 DFC_ZCP ........................................................................................................................ 17
2.5 D FC_UZCP ..................................................................................................................... 19
2.6 DFC_LRZCP..................................................................................................................... 21
3. Timers and Counters Instructions ................................................................................23
3.1 DFB_Capture................................................................................................................... 24
3.2 DFB_Compare ................................................................................................................. 32
3.3 DFB_HCnt....................................................................................................................... 39
3.4 DFB_HTmr ...................................................................................................................... 45
3.5 DFB_PresetValue.............................................................................................................. 49
3.6 DFB_Sample ................................................................................................................... 54
3.7 Error Codes and Troubleshooting......................................................................................... 59
4. EtherCAT Network Instructions....................................................................................62
4.1 DFB_EcGetAllSlaveAddr..................................................................................................... 63
4.2 DFB_EcGetSlaveCount ...................................................................................................... 67
4.3 DFB_EtherCATLink_Diag.................................................................................................... 70
4.4DFB_GetAllECATSlaveInfo .................................................................................................. 75
4.5 DFB_GetECATMasterError .................................................................................................. 79
4.6 DFB_GetECATMasterState.................................................................................................. 82
4.7 DFB_ResetECATMaster ...................................................................................................... 85
4.8 DFB_ResetECATSlave........................................................................................................ 89
4.9 Error Codes and Troubleshooting......................................................................................... 94
5. Checksum Instructions ..............................................................................................95
5.1 DFC_LRC8....................................................................................................................... 96
5.2 FC_LRC16 ....................................................................................................................... 98

AX Series-Standard Instructions Manual TOC
5.3 DFC_LRC32....................................................................................................................100
5.4 Error Codes and Troubleshooting........................................................................................102
6. Module Read-write Instructions ................................................................................. 103
6.1 DFB_From......................................................................................................................104
6.2 DF B_ To .........................................................................................................................107
6.3 DFB_DLCCAL ..................................................................................................................110
6.4 DFB_DLCWEI..................................................................................................................114
6.5 DFB_DPUCONF ...............................................................................................................118
6.6 DFB_PUSTAT ..................................................................................................................122
6.7 DFB_DPUPLS..................................................................................................................125
6.8 DFB_DPUDRI..................................................................................................................128
6.9 DFB_DPUDRA .................................................................................................................131
6.10 DFB_DPUZRN .................................................................................................................133
6.11 DFB_DPUJOG .................................................................................................................136
6.12 DFB_DPUCNT .................................................................................................................139
6.13 DFB_DMPID ...................................................................................................................142
6.14 DFB_DHCCNT .................................................................................................................150
6.15 DFB_DHCCAP .................................................................................................................159
6.16 DFB_HCDO ....................................................................................................................166
6.17 DFB_DHCCMP.................................................................................................................169
6.18 DFB_DHCCMPT ...............................................................................................................178
6.19 DFB_DHCMEAS...............................................................................................................185
6.20 DFB_DADLOG .................................................................................................................189
6.21 DFB_DADPEAK................................................................................................................197
6.22 Error Codes and Troubleshooting........................................................................................200
7. Modbus Communication Instructions .......................................................................... 205
7.1 DFB_COMRS...................................................................................................................206
7.2 DFB_ModbusComChannel .................................................................................................210
7.3 DFB_ModbusRequest .......................................................................................................214
7.4 DFB_ModbusRequest2......................................................................................................217
7.5 Error codes and Troubleshooting ........................................................................................221
8. Network Communication Instructions ......................................................................... 224
8.1 DFB_TCP_Client ..............................................................................................................225
8.2 DFB_TCP_Server.............................................................................................................231
8.3 DFB_UDP_Socket ............................................................................................................237

AX Series-Standard Instructions Manual TOC
8.4 DFB_ModbusTCPChannel ..................................................................................................243
8.5 DFB_ModbusTCPRequest ..................................................................................................246
8.6 Error Codes and Troubleshooting........................................................................................250
9. Instructions for Reading and Writing a Memory Card..................................................... 253
9.1 DFB_MemoryRead ...........................................................................................................254
9.2 DFB_MemoryWrite...........................................................................................................258
9.3 Error Codes and Troubleshooting........................................................................................262
10. High Speed Output Instructions ................................................................................ 265
10.1 DFB_PWM ......................................................................................................................266
10.2 Error Codes and Troubleshooting........................................................................................269
11. Additional Instructions............................................................................................. 270
11.1 DFC_LogGetSize .............................................................................................................271
11.2 DFB_LogDump................................................................................................................273
11.3 DFB_FTPClient ................................................................................................................275
11.4 Error Codes and Troubleshooting........................................................................................280

AX Series-Standard Instructions Manual Preface
1
P1Preface

AX Series-Standard Instructions Manual Preface
2
P1.1Introduction
Thank you for purchasing our product. The AX series motion controller provides a high-level motion control system
based on CODESYS to integrate the control function of PLCs and Motion Control.
This manual introduces Delta self-developed function blocks and functions for customers to perform PLC application
development.
P1.1.1 Applicable Products
This manual applies to the following products:
- AX-3 Series
P1.1.2 Associated Manuals
1. DIADesigner-AX User Manual
Includes the information of software operation, programming languages (Ladder Diagram, Sequential function
charts, ST (Structured Text) and function blocks), concept of POU and Task, as well as motion control
programming.
2. AX-3 Series Operational Manual
Introduces the concept of motion control system, while gives the information of hardware and software
configuration, motion control programming framework, troubleshooting, analog input-output module and
temperature measurement module

AX Series-Standard Instructions Manual Chapter 1
3
Chapter 1 Move Instructions

AX Series-Standard Instructions Manual Chapter 1
4
1.1 DFC_NIBMOV
•Supported Products
AX series
DFC_NIBMOV: Data shift.
FB/FC Instruction Graphic Expression ST Language
FC DFC_NIBMOV
DFC_NIBMOV(
pSrc:= ,
wSrcStartPos:= ,
pDst:= ,
wDstStartPos:= ,
wNum:= ,
ErrorID=> );
•Inputs
Name Function Data Type
Setting Value
(Default value)
pSrc
Memory address of source
variables
POINTER TO BYTE Memory address (0)
wSrcStartPos
Start address for source
variable shift
(Unit: Nibble)
WORD* Positive integer (0)
pDst
Memory address of target
variables
POINTER TO BYTE Memory address (0)
wDstStartPos
Start address for storing target
variable
(Unit: Nibble)
WORD* Positive integer (0)
wNum
The data length for data shift
(Unit: Nibble) WORD*
1 ~ 256
Positive integer (0)
*Note: The variable types BYTE and WORD can be used for inputs.
•Outputs
Name Function Data Type
Output Range
(Default value)
DFC_NIBMOV
Execution result
(Return type)
BOOL True/False(False)
ErrorID
Error code
DL_MOV_ERROR
DL_MOV_ERROR(DFC_NO_ERROR)

AX Series-Standard Instructions Manual Chapter 1
5
•Function
After executing this Function, the value of variable1 (pSrc) will be copied to variable2 (pDst), while the length of copied data is
determined by wNum input. (Unit: Nibble)
•Example
Program example 1:
In this example, FC instruction (DFC_NIBMOV) is used for shifting the content of wVar0 (pSrc) to the variable wVar1 (pDst).
Since wSrcStartPos=2, wNum=2 and wDstStartPos=0, two consecutive Nibbles (Length=2), which start from Nibble2 of
variable wVar0 (pSrc), are shifted to the address Nibble0 inside the memory of wVar1 (pDst).
Variable Nibble3 Nibble2 Nibble1 Nibble0
wVar0
[16#1234]
Memory content
1 2 3 4
wVar1
[16#FFFF]
Memory content
F F F F
wVar1
[16#FF12]
Memory content (after executing FC)
F F 1 2

AX Series-Standard Instructions Manual Chapter 1
6
Program example 2:
In this example, FC instruction (DFC_NIBMOV) is used for shifting the content of ar_wVar0 (pSrc) to the variable ar_wVar1
(pDst).
Since wSrcStartPos=3, wNum=2 and wDstStartPos=0, two consecutive Nibbles (Length=2), which start from Nibble3 of
variable ar_wVar0 (pSrc), are shifted to the address Nibble0 inside the memory of ar_wVar1 (pDst).
Variable Nibble7 Nibble6 Nibble5 Nibble4 Nibble3 Nibble2 Nibble1 Nibble0
ar_wVar0
[16#0123,16#4567]
Memory content
4 5 6 7 0 1 2 3
ar_wVar1
[16#FFFF,16#FFFF]
Memory content
F F F F F F F F
ar_wVar1
[16#FF70,16#FFFF]
Memory content (after executing FC)
F F F F F F 7 0
•Library
DL_Mov.library

AX Series-Standard Instructions Manual Chapter 1
7
1.2 DFC_XCH
•Supported Products
AX series
DFC_XCH: Data exchange between two variables.
FB/FC Instruction Graphic Expression ST Language
FC DFC_XCH
DFC_XCH(
pSrc1:= ,
pSrc2:= ,
dwNum:= ,
ErrorID=> );
•Inputs
Name Function Data Type
Setting Value
(Default value)
pSrc1
Memory address of
variable1
POINTER TO BYTE Memory address (0)
pSrc2
Memory address of
variable2
POINTER TO BYTE Memory address (0)
dwNum
The length of data for
exchange.(Unit: Byte) DWORD*
1 ~ 65535
Positive integer(0)
*Note: The variable types BYTE, WORD and DWORD can be used for dNum input.
•Outputs
Name Function Data Type
Output Range
(Default value)
DFC_XCH
Execution result
(Return type)
BOOL True/False(False)
ErrorID
Error code
DL_MOV_ERROR
DL_MOV_ERROR(DFC_NO_ERROR)
•Function
After executing this Function, the value of variable1 (pSrc1) will be copied to variable2 (pSrc2), while the length of copied data is
determined by dwNum input.

AX Series-Standard Instructions Manual Chapter 1
8
Example
In this example, Function (DFC_XCH) is used for exchanging contents of two variables.
Since the data length for data exchange is set to one Byte (Length=1), low-byte of variable1 and 2 will be switched after executing
Function (DFC_XCH).
Before execution After executing Function
Variable wVar0 wVar1 Variable wVar0 wVar1
Content 16#1234 16#5678 Content 16#1278 16#5634
•Library
DL_Mov.library

AX Series-Standard Instructions Manual Chapter 1
9
1.3 Error Code and Troubleshooting
Description Reasons for error Troubleshooting
DFC_NIBMOV_ERR_PARAMETER Incorrect value of wNum Check if the value of wNum is bigger than 0.
DFC_XCH_ERR_PARAMETER Incorrect value of dwNum Check if the value of dwNum is bigger than 0.
DFC_XCH_ERR_NOMEMORY
Not enough memory space in
controller.
Check if
the size of downloaded program exceeds
the limit, then reboot the controller.

AX Series-Standard Instructions Manual Chapter 2
10
Chapter 2 Comparison Instructions

AX Series-Standard Instructions Manual Chapter 2
11
2.1 DFC_CMP
•Supported Products
AX series
DFC_CMP: Comparison between LINT variables.
FB/FC Instruction Graphic Expression ST Language
FC DFC_CMP
DFC_CMP(
liSrc1:= ,
liSrc2:= )
•Inputs
Name Function Data Type
Setting Value
(Default value)
liSrc1 Variable1 LINT*
L I NT: -263 ~ 263-1
(0)
liSrc2 Variable2 LINT*
L I NT: -263 ~ 263-1
(0)
*Note: The variable types SINT, INT, DINT and LINT can be used for inputs.
•Outputs
Name Function Data Type
Output Range
(Default value)
DFC_CMP Execution result
(Return type) WORD
1:liSrc1 = liSrc2
2:liSrc1 < liSrc2
3:liSrc1 > liSrc2
(0)
•Function
The FC instruction is used to compare the values in variable 1 with that in variable 2.

AX Series-Standard Instructions Manual Chapter 2
12
Programing Example
This example use FC instruction (DFC_CMP) to do comparison between two variable values.
Since variable1 (liVar0) is smaller than variable2 (liVar1), the calculation result (wVar0) would be 2.
Library
DL_Comparison.library

AX Series-Standard Instructions Manual Chapter 2
13
2.2 FC_UCMP
•Supported Products
AX Series
DFC_UCMP: Comparison between ULINT variables.
FB/FC Instruction Graphic Expression ST Language
FC DFC_UCMP
DFC_UCMP(
lwSrc1:= ,
lwSrc2:= )
•Input
Name Function Data Type
Setting Value
(Default Value)
lwSrc1 Variable 1 ULINT/LWORD*
ULINT/LWORD:0 ~ 264-1
(0)
lwSrc2 Variable 2 ULINT/LWORD*
ULINT/LWORD:0 ~ 264-1
(0)
*Note: The variable types USINT, UINT, UDINT, ULINT, BYTE, WORD, DWORD and LWORD can be used for inputs.
•Output
Name Function Data Type
Output Range
(Default Value)
DFC_UCMP Execution result
(Return type) WORD
1:lwSrc1 = lwSrc2
2:lwSrc1 < lwSrc2
3:lwSrc1 > lwSrc2
(0)
•Function
The FC instruction is used to compare the values in variable 1(lwSrc1) with that in variable 2(lwSrc2).

AX Series-Standard Instructions Manual Chapter 2
14
Programming Example
This example use FC instruction (DFC_UCMP) to do comparison between two variable values.
Since variable1 (uiVar0) is smaller than variable2 (uiVar1), the calculation result (wVar0) would be 2.
•Library
DL_Comparison.library