Delta Electronics DVP10MC11T [106/375] Motion control instructions

4. Motion Control Instructions

4-62 DVP-MC operating manual

<1> When master axis is in absolute mode, master position in cam curve = ( master

position 144 + master offset 0) / master scaling 1 =144.

<2> From cam curve, slave position is 164 when master position is 144. Calculation

method: f (144) =164.

<3> When slave axis is in absolute mode, slave position= 164* slave scaling 1 + slave

offset 0 =164

<4> Because startup mode 0 is to start up by jumping to the positive target position

direction immediately, slave axis need move from current position to the position

164 in the next cycle, i.e. actual position 524 and thus the coordinate of the

meshing point B is (144, 524). When master axis moves, following master axis,

slave axis starts to move from point B according to C2 curve.

 Start-up mode 1: start up toward the shortest distance and slave axis judges whether to

mesh toward the positive or negative direction according to the distance between current

position and target position. Slave axis moves from point A to point B to mesh with

master axis at the max. speed, max acceleration and max deceleration in the axis

parameters.

<1> When master axis is in absolute mode, master position in cam curve = (master

position 144 + master offset 0) / master scaling 1 =144.

<2> From cam curve, slave position is 164 when master position is 144. Calculation

method: f (144) =164.

<3> When slave axis is in absolute mode, slave position= 164* slave scaling 1 + slave

offset 0 =164

<4> Because startup mode 1 is to start up toward the shortest distance and the

position 164 in the current cycle is the most closest to current slave position, slave

axis need move from current position to the position 164 in the current cycle, i.e.

actual position 164 and thus the coordinate of the meshing point B is (144,164).

When master axis moves, following master axis, slave axis starts to move from

point B according to C2 curve.