Delta D25886 User Manual download pdf (Page 94)

4. Motion Control Instructions

DVP-MC operating manual 4-53

 Master axis is absolute and slave axis is relative

¾ Relation explanation when master axis and slave axis are in absolute and relative mode

respectively

In the system where master and slave axis are in absolute and relative mode respectively,

master axis starts moving with the physical position of current point as the starting point of the

cam when “CamIn” is executed. Slave axis will make the cam motion following master axis

with the current physical position corresponding to the master position as the starting position,

which conforms to the corresponding cam relation).

¾ Explanation of StartMode parameters

In the following figure, master and slave axis are both static before and after meshing. Point A

is the position of master and slave axis before meshing; Point B is the meshing point; C1 is

the preplanned electronic cam curve and C2 is the electronic cam curve for actual motion.

n Start-up mode 0 : Start up by jumping to the positive target position immediately (Point A

overlaps with point B)

 Start-up mode 1: Start up by taking the shortest distance (Point A overlaps with point B)

p Start-up mode 2 : Start up toward the positive direction (Point A overlaps with point B)

q Start-up mode 3 : Start up toward the negative direction (Point A overlaps with point B)

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Delta D25886 User Manual Page 94