Delta DVP-15MC Series, Руководство по эксплуатации

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DVP-15MC Series Motion Controller Operation Manual
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corresponding slave axis position is 180 (180=120+60).
Case 2
：
The master axis position corresponding to the slave axis position will shift (add) by 90
based on the planned position as
MasterScaling and SlaveScaling are 1, MasterOffset
is 90 and SlaveOffset is 0.
For example, in the planned cam relationship, the master axis position 180
corresponds to the slave axis position 120 and in the actual execution, the master axis
position 90 corresponds to the slave axis position 120 which is the slave axis position
corresponded to by the master axis position 180 (180=90+90) in the planned cam
relationship.

StartMode
In the engagement, the way how the slave axis moves is specified by the StartMode parameter. That is,
StartMode works at stage 4 in the execution of the MC_CamIn instruction as shown in the following
figure.
Stage 1:
Trigger and execute the MC_CamIn instruction.
Stage 2: Wait for the start of the engagement.
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.
Slav e ax is pos it ion
M as te r axi s pos it ion
MC
_
Cam I n Ex ecut io n P ro cess
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