Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
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1
3. Motion Curve and Timing Charts:

In GearIn1, the values of RatioNumerator and RatioDenomenator are both 1. GearIn1_Ex
changes from FALSE to TRUE and meanwhile GearIn1 _Bsy changes to TRUE. One period
later, GearIn1_InGear changes to TRUE and the e-gear relationship between the master axis
and the slave axis is built.

Vel_Ex changes from FALSE to TRUE after the e-gear relationship between the master axis
and slave axis is built. One period later, Vel_Act changes to TRUE, the master axis performs
the velocity instruction and the slave axis follows the master axis for motion.

In GearIn2, the values of RatioNumerator and RatioDenomenator are 2 and 1 respectively.
GearIn2_Ex changes from FALSE to TRUE and meanwhile GearIn2 _Bsy changes to TRUE.
One period later, GearIn2_Act and GearIn1_Abt change to TRUE and the slave axis gets to
the target velocity based on the values of RatioNumberator, Ratio Denomenator,
MasterValueSource, Acceleration, Jerk and BufferMode specified by the GearIn2 instruction.
Since the values of
RatioNumerator and RatioDenomenator in GearIn2 are 2 and 1
respectively, the target velocity of the slave axis is twice that of the master axis. When
GearIn2_InGear changes to TRUE, the velocity of the slave axis will be twice that of the
master axis.
G earI n1_Ex
GearIn1_InGear
GearIn1_Bs y
GearIn1_A ct
G earIn1_Abt
GearIn 1_Err
Gear In1
80000
Ve loc it y
Time
400 00
G earI n2_Ex
GearIn2_InGear
GearIn2_B sy
GearIn2_A ct
G earIn2_Abt
GearIn 2_Err
Gear In2
Ve loc it y
Time
400 00
Vel_Ex
Vel_Inv el
Vel_B sy
Vel_A ct
Vel_Abt
Vel Err
Vel
M aster a xis Axis1
（ ）
S lav e axis Ax is 2
（ ）