Delta D25886 User Manual download pdf (Page 106)

4. Motion Control Instructions

DVP-MC operating manual 4-65

 When master and slave axis are in relative mode, the position curve figure for the actual motion

is displayed below:

Slave

Position

750

1470

900

180

390

Master

Position

1110

 Derivation process of the coordinates of the key point is shown below:

¾ Current master position is 30; when master axis is in relative mode, master position

corresponding to cam curve is 0 and any offset is invalid.

¾ Master position in cam curve = ( master position 0 + master offset 0)/ master scaling 2 = 0

¾ It can be seen from cam curve that slave position is 0 when master position is 0. Calculation

method: f (0) =0.

¾ Slave position = 0* slave scaling 2 + slave offset 0 = 0. Therefore, after “MC_CamIn” is

executed, the coordinate of the first point is current point (30,180) which corresponds to the

point (0, 0) in the cam curve.

¾ Actual master and slave position corresponding the terminal point of cam curve

 Actual master position:

It can be seen from cam curve that master axis need move 360 from point (0, 0) to complete

one cam cycle. Since master scaling is 2, actually master axis need move another 720 from

current position to complete one cycle, i.e. 30+720=750.

 Actual slave position:

It can be seen from cam curve that slave axis need move 360 to reach the max. value starting

from point (0, 0). Since slave scaling is 2, actually slave axis need move another 720 from

current position so as to reach the max. value, i.e. 180+720=900.

The actual slave position corresponding to the terminal point of cam curve is 900-720=180 and

so the axis position corresponding to terminal point is (750,180).

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Delta D25886 User Manual Page 106