Delta DVP-15MC Series, Operation Manual

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Chapter 11 Motion Control Instructions
11-189
11
S la ve ax is po sition
Mas te r a xis posit io n
MC_CamI n Ex ecut ion Proc es s
1
2
3
4
5
6
100 0 1180
Ac tivat ionPos ition Abs olute ca m p has e
:
C a se 1
Slav e axis pos it ion
Mast er ax is pos ition
1
2
3
4
5
6
1000
820
C ase 2
Stage 1: Trigger and execute the MC_CamIn instruction. The master axis absolute position is
1000 at the moment. (The absolute cam phase is 280)
Stage 2: Wait for the start of the engagement.
Stage 3: The master axis reaches the position for starting the engagement (The master axis
position is 1180 in circumstance 1 and 820 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 cam phase, the range of the ActivationPosition
parameter value is 0~ cam cycle value (excluding the cam cycle value). If the value of
ActivationPosition exceeds the valid range, an error will occur and the execution will fail as the
MC_CamIn instruction is executed.

Relationship between the master axis position and slave axis position
The cam relationship which is planned in the software is the position relationship between the
master axis and slave axis. The “position” mentioned here is the cam phase of the master axis /
slave axis instead of the actual axis position. If the cam relationship which is planned is seen as the
function CAM as below, the input of the function CAM is the master axis cam phase and the output
is the slave axis cam phase. The formula is shown as below.
y = CAM
（
x
）
x
：
The master axis cam phase
y
：
The slave axis cam phase
The cam phase comes from the axis positions and there is a conversion between them. The
conversion between the axis position and cam phase is related with the
MasterAbsolute ,
SlaveAbsolute , MasterOffset , SlaveOffset , MasterScaling and SlaveScaling parameters.
For details, refer to relevant sections.
The slave axis follows the master axis to make the synchronous cam motion by using the