Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
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11
1
S lave a xis p osition
Mas ter ax is p osition
1
2
3
4
5
6
10 00 900
C a se 2
Stage 1:
Trigger and execute the MC_CamIn instruction. The master axis absolute position is
1000 at the moment. (The absolute axis phase is 200)
Stage 2: Wait for the start of the engagement.
Stage 3: The master axis reaches the position for starting the engagement (1300 in
circumstance 1 and 900 in circumstance 2) and the slave axis starts to perform the
engagement action.
Stage 4: The engagement is being conducted.
Stage 5: The engagement is completed and the master axis and slave axis achieve the
synchronization.
Stage 6: The master axis and slave axis are in the synchronous motion.
NOTE: As ActivationPosition is the absolute axis phase, the range of the ActivationPosition
parameter value is 0~modulo (excluding modulo). If the value of ActivationPosition exceeds
the valid range, an error will occur and the instruction execution will fail as the MC_CamIn
instruction is executed.

ActivationPosition: Absolute cam phase
When ActivationMode =3, ActivationPosition is the absolute cam phase which is the remainder
got by dividing the axis absolute position by its cam cycle. The slave axis starts to perform the
engagement action as the cam phase of the master axis is
ActivationPosition .
The cam phase is cyclic. Its cam phase may be equal to ActivationPosition many times in the
motion of the master axis. But the slave axis starts to perform the engagement action only when
the cam phase of the master axis is equal to
ActivationPosition for the first time after the
MC_CamIn instruction is executed.
For example, the maximum position of the master axis in the cam table is 360,
ActivationPosition =100 and the master axis position is 1000 at the time when the MC_CamIn
instruction is executed. The slave axis will not perform the engagement action because the
absolute cam phase of the master axis is 280 (280=1000%360) at the time when the
MC_CamIn
instruction execution begins. Then the slave axis starts to perform the engagement action as the
master axis position is 1180 (Absolute cam phase is 100=1180%360) or 820 (Absolute cam phase
is 100=820%360).