Delta D25886 User Manual download pdf (Page 99)

4. Motion Control Instructions

4-58 DVP-MC operating manual

 Master axis is relative and slave axis is relative

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

In the system where master and slave axis are both in relative mode, master axis starts

moving with the physical position of current point as the starting point of the cam system when

“CamIn” is executed. Slave axis will start the cam motion following master axis with current

physical position as the starting point.

¾ StartMode parameters explanation:

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

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

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

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

overlaps with point B)

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Delta D25886 User Manual Page 99