Delta Electronics DVP15MC11T, Руководство по эксплуатации

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Chapter 12 Troubleshooting
11
Stage 3: The master axis reaches the position where the engagement begins and the slave axis
starts to perform the engagement action.
Stage 4: The engagement is ongoing.
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.
The cam synchronization requires that the master axis cam phase and the slave axis cam phase meet the
defined cam relationship. The engagement process is the process in which the slave axis moves toward
the synchronous phase. The synchronous phase and the master axis cam phase meet the defined cam
relationship. Since the axis cam phase is cyclic, every cam phase is corresponded to by multiple axis
positions. When the engagement occurs, there are many selections for the expected synchronization
position. And thus there are several engagement ways for option.
For example, when the engagement starts, the master axis cam phase and slave axis cam phase are 80
and 180 respectively as point O in the following figure. But the defined cam relationship requires that the
slave axis cam phase is 40 and thus the synchronous position that the slave axis expects is 40 or 400
(Point A or point B in the following figure) at the moment. The engagement process from Point O to A or
Point O to B can be selected via the
StartMode parameter.
There are three modes of StartMode for selection: the shortest way (mcRamplnShortest), positive
direction (mcRamplnPositive) and negative direction (mcRamplnNegative) . Users can select the right
engagement mode according to actual need.

StartMode=0
（
The shortest way)
As StartMode =0, in the execution of the engagement action, the slave axis moves toward the
position for synchronization by taking the shortest way. At the moment, the motion of the slave
axis is affected by the
Velocity, Acceleration Deceleration and Jerk parameters.

StartMode=1
（
Positive direction
）
As StartMode =1, in the execution of the engagement action, the slave axis moves toward the
position for synchronization in the positive direction. At the moment, the motion of the slave
axis is affected by the
Velocity, Acceleration Deceleration and Jerk parameters.

StartMode=-1
（
Negative direction
）
As StartMode =-1, in the execution of the engagement action, the slave axis moves toward the
position for synchronization in the negative direction. At the moment, the motion of the slave
axis is affected by the
Velocity, Acceleration Deceleration and Jerk parameters.
For example, as the engagement begins, the master axis cam phase and slave axis cam phase
are 80 and 180 respectively (as point O below). According to the defined cam relationship, the
master axis cam phase is 80 and the slave axis cam phase is 40 (as point A or B below). If the
value of
StartMode is different, the way the slave axis moves is different in the engagement
process.
Slave ax is phase
Mas t er
ax is phas e
0
180 360
300
Plann ed Cam C urv e
Slav e axis posit ion
( )
Slav e ax is phas e
M ast er ax is pos it ion
（
Mas t er ax is phas e)
360
(360)
180 (180)
360 (0)
66 0(300)
0 (0)
B
A
o
80
(80)
40(40)
40 0(40)
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