Delta D25886 User Manual download pdf (Page 97)

4. Motion Control Instructions

4-56 DVP-MC operating manual

<1> When master axis is in relative mode, master position in cam curve = (master

position 0 + master offset 0) / master scaling 1 =0.

<2> From cam curve, slave position is 0 when master position is 0. Calculation method: f

(0) = 0.

<3> When slave axis is in absolute mode, slave position= 0* slave scaling 1 + slave

offset 0 =0

<4> Because startup mode 3 is to rotate toward the negative direction, slave axis need

move from current position to the position 0 in the current cycle, i.e. actual position 0

and thus the coordinate of the meshing point B is (144, 0). When master axis moves,

following master axis, slave axis starts to move from point B according to C2 curve.

p Start-up mode 1: start up toward the shortest distance and slave axis judges whether to

mesh toward the positive or negative direction according to the distance between current

position and target position. Slave axis moves from point A to point B to mesh with

master axis at the max. speed, acceleration and deceleration in the axis parameters.

<1> When master axis is in relative mode, master position in cam curve = (master

position 0 + master offset 0) / master scaling 1 =0.

<2> From cam curve, slave position is 0 when master position is 0. Calculation method: f

(0) =0.

<3> When slave axis is in absolute mode, slave position= 0* slave scaling 1 + slave

offset 0 = 0

<4> Because startup mode 1 is to start up toward the shortest distance and the position 0

in the next cycle is the most closest to current slave position, slave axis need move

in negative direction from current position to the position 0 in the next cycle, i.e.

actual position 360 and thus the coordinate of the meshing point B is (144, 360).

When master axis moves, following master axis, slave axis starts to move from point

B according to C2 curve.

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Delta D25886 User Manual Page 97