Delta Electronics DVP10MC11T [135/375] Motion control instructions
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Delta Electronics DVP10MC11T [135/375] Motion control instructions

Delta Electronics DVP10MC11T [135/375] Motion control instructions
4. Motion Control Instructions
DVP-MC operating manual 4-91
Parameter
name
Explanation
Data
type
Available
device
Acceleration
As "MC_Phasing" is executed, adjust the acceleration of
phase shift.
Unit: unit/second
2
, the parameter is always positive.
REAL Constant, D
Deceleration
As "MC_Phasing" is executed, adjust the deceleration of
phase shift.
Unit: unit/second, the parameter is always positive.
REAL Constant, D
Done
As adjustment of phase shift is completed, “Done” is on;
As "Execute" is off, "Done" is reset.
BOOL M,Q
Abort
When executing "MC_Phasing" is aborted, "Abort" is on;
As "Execute" is off, "Abort" is reset.
BOOL M,Q
Error
If any error is detected, "Error" turns on; when "Execute"
turns off, "Error" is reset.
BOOL M,Q
ErrorID Error code. Please refer to section 5.3. UINT D
Notes:
1. PhaseShift regards the moment when Execute is ON after 10MC is powered ON or performs the
download as the reference point during the execution of “MC_Phasing” instruction.
2. In the gear relationship between master axis and slave axis, the shift of slave axis is calculated on basis
of RatioNumerator/ Ratiomenominator=1:1 no matter what RatioNumerator and Ratiomenominator
values of MC_GearIn instruction are during the execution of MC_Phasing instruction.
3. In the cam relationship built between master axis and slave axis, master axis and slave axis scales
according to MasterScaling and SlaveScaling values of MC_CamIn instruction to form the new cam
curve during the execution of MC_Phasing instruction. The shift of slave axis is calculated on basis of
the new cam curve.
Program example
When the gear relation is built between two axes with the default values for axis parameters, the
MC_Phasing instruction has an impact on the slave speed and position.
1. As the following instruction figure shows, the gear relationship between master axis and slave axis is
established after M2 is ON and the ratios of master axis to slave axis in velocity and position are both
1:1.
The execution of "MC_Phasing" does not affect the motion of master axis but slave axis at the ratio of
1:1 if the master axis moves at a constant speed of 10000 and the velocity, acceleration and
deceleration and phase shift set in "MC_Phasing" instruction are virtually superimposed to master axis
when M0 turns off -> on.
Actual phase shift of master axis (Unit: pulse) = PhaseShift*( the number of pulses/the number of turns)
/ modulo= 1080*10000/360=30000. Since "MC_Phasing" instruction influences the motion of the slave
axis at the ratio of 1:1, the actual shift of the slave axis is 30000 as well. The master position is 30000 at
the moment and the slave position =(master position + actual phase shift of master axis)
=30000+30000= 60000.

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