Delta D25886 User Manual download pdf (Page 105)

4. Motion Control Instructions

4-64 DVP-MC operating manual

 Calculation of the coordinate of the key point in the corresponding cam curve

Current position (30, 180), module is 360 and thus the point corresponding to the cam curve is

(30, 180), i.e. point A in the figure. The corresponding point position in cam curve can be

calculated via the following formula.

Slave position = f [(master position + master offset) / master scaling] * slave scaling + slave

offset

 Calculation of slave position:

Master position in the cam curve = (master position 30 + master offset 30) / master scaling 2 =

From cam curve, slave position is 30 when master position is 30. Calculation method: f (30) =

30.

Slave position= 30* slave scaling 2 + slave offset 30 =90

Therefore, the coordinate of the first point is (30, 90), i.e. point B in the figure after “MC_CamIn”

is executed.

While master axis is moving, slave axis will cyclically follow master axis to move according to

the cam curve with pint B as the starting point.

 Actual master and slave position corresponding to the terminal point of cam curve

Actual master position:

From step 2, master position need move 330 from position 30 to complete one cam cycle. Since

master scaling is 2, actually master axis need move another 660 from current position, i.e.

30+660=690.

Actual slave position:

From step 2, f (30) =30, therefore slave axis need move 330 so as to reach max. value. Since

slave scaling is 2, actually slave axis need move another 660 from current position before

reaching the max. value, i.e. 90+660=750.

Since slave scaling is 2, the difference between max. and min. of actual slave position is

360*2=720 and the actual slave position corresponding to terminal point of cam curve is

750-720=30. Therefore, the axis position corresponding to terminal point is (690, 30).

 Curve figure for actual motion:

Slave

Position

690

1050

1410

750

180

330

Master

Position

1 2 ... 100 101 102 103 104 105 106 107 108 109 110 ... 338 339

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Delta D25886 User Manual Page 105