Delta Electronics DVP10MC11T [103/375] Motion control instructions
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Delta Electronics DVP10MC11T [103/375] Motion control instructions

Delta Electronics DVP10MC11T [103/375] Motion control instructions
4. Motion Control Instructions
DVP-MC operating manual 4-59
4.5.2. MC_CamIn
API
MC_CamIn
Cam-in instruction
Controller
65
10MC11T
Explanation of the Instruction:
MC_CamIn is applied to establish the cam relation between master axis and slave axis. When the cam
relation is established, this instruction can be used to specify the offset value, scaling and start mode of the
master axis and slave axis according to the application demand. After the execution of this instruction is
completed, slave axis will make the motion following the master axis in accordance with the cam curve.
Explanation of input and output parameter of the instruction:
Parameter
name
Explanation
Data
type
Available
device
Axis The slave axis number UINT Constant, D
Master
The master axis number. We suggest that the master
axis number should be less than the slave axis number
so that the slave axis could better follow the master axis
for motion. The axis number can be set in order of 1~24
from small to large.
UINT Constant, D
Execute
This instruction is executed when “Execute” turns Off
–> On.
BOOL
M,I,Q,
Constant
MasterOffset The cam position offset of master axis. Unit: unit. REAL
Constant, D
SlaveOffset The cam position offset of slave axis. Unit: unit. REAL
Constant, D
MasterScaling
The configuration parameter of master axis scaling,
which is used for scaling the cam curve. (>0)
REAL Constant, D
SlaveScaling
The configuration parameter of slave axis scaling,
which is used for scaling the cam curve. (>0)
REAL
Constant, D
StartMode
Start mode:
0: start up by jumping to the positive target position
immediately;
1: Start up by taking the shortest way;
2: start up toward the positive direction;
3: start up toward the negative direction.
UINT Constant, D

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