Delta D25886 User Manual Page 89

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4. Motion Control Instructions
4-48 DVP-MC operating manual
Parameter
name
Explanation
Data
type
Available
device
InSync
“InSync” turns on after master axis and slave axis
establish the cam relation;
When “Execute” turns off, InSync 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
EndOfProfile
If “MC_CamTableSelect“ is executed and Periodic
parameter is 0 (non-cyclic):
“EndOfProfile” turns on after the execution of
MC_CamIn is finished once; “EndOfProfile” is reset as
“Execute” turns off.
BOOL M,Q
Note:
1. In a cam system, to call one cam curve, "CamTableSelect" should be called to select the
corresponding cam table first and then "CamIn" is executed; if the cam curve is to be changed into
another one, “MC_CamTableSelect” is called again to select another cam table.
2. As axis is in absolute mode, the offset parameter (Master Offset or SlaveOffset) is valid but they can
not be negative value; as axis is in relative mode, the offset parameter is invalid.
3. Electronic cam curve can be edited in CANopen Builder software and it defines the corresponding
position relation between terminal actuators of master axis and slave axis with the unit: unit.
4. The position in the cam curve of master axis or slave axis is the remainder of actual axis position of
divided by modulo; after MC_CamIn is executed, the method of calculating the meshing point in the
cam curve is shown as below.
Slave position = f [(master position + master offset)/ master scaling]* slave scaling + slave offset
Method of calculating the master position in the above formula:
When master is in absolute mode, master position is the remainder of the current position of master
axis divided by modulo;
When master is in relative mode, master position is the starting point position of master axis in the
corresponding cam curve (usually 0).
“f” in above formula represents the cam curve relation between master and slave axis. (CAM).
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