Delta D25886 User Manual download pdf (Page 119)

4. Motion Control Instructions

4-78 DVP-MC operating manual

Parameter

name

Explanation

Data

type

Available

device

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

Note:

Every time “MC_Phasing” is executed, PhaseShift value regards the initial relationship between master and

slave axis as the reference point.

The MC_Phasing instruction will afftect the velocity and position of the slave axis when the gear relation

between the master and slave axis is established. The following example explains it in deail.

Example:

When the gear relation is built between two axes, the MC_Phasing instruction has impact on the slave speed

and position.

1. As the following instruction figure shows, the gear relation between master and slave axis is established

after M2 is on and the velocity ratio and position ratio between master and slave axis are both 1:2.

Suppose master axis moves at a constant speed of 5000; when M0 turns off -> on, the velocity,

acceleration and deceleration and phase shift set in "MC_Phasing" instruction will be superimposed to

master axis. The execution of "MC_Phasing" does not affect the running of master axis but the running

of slave axis according to gear relation.

As the sequence diagram shows below, when M10 is on, master position is 10000 and slave position=

( actual master position + phase shift) * 2 = (10000+10000）*2= 40000.

2. After M10 is on, D10 is changed into 0; when M0 turns off -> on again, the phase relation between

master and slave axis returns to the initial status since phase shift is 0. When M10 is on, master position

is 25000 and slave position= ( actual master position + phase shift) *2=（25000+0）*2= 50000.

Instruction Figure

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Delta D25886 User Manual Page 119