Delta D25886 Manual do Utilizador descarregar pdf (Página 93)

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4. Motion Control Instructions

4-52 DVP-MC operating manual

q Start-up mode 3: start up toward negative direction. Slave axis moves from point A to

point B to mesh with master axis at the max. speed, max acceleration and max

deceleration

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

position 144 + master offset 0) / master scaling 1 =144.

<2> From cam curve, slave position is 164 when master position is 144. Calculation

method: f (144) =164.

<3> When slave axis is in absolute mode, slave position= 164* slave scaling 1 + slave

offset 0 =164

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

move from current position to the position 164 in the current cycle, i.e. actual

position 164 and thus the coordinate of the meshing point B is (144,164). When

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

according to C2 curve.

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