4. Motion Control Instructions When master and slave axis are in relative mode, the position curve figure for the actual motion is displayed below: Slave Position 900 180 0 30 750 1470 390 1110 Master Position Derivation process of the coordinates of the key point is shown below: Current master position is 30; when master axis is in relative mode, master position corresponding to cam curve is 0 and any offset is invalid. Master position in cam curve = ( master position 0 + master offset 0)/ master scaling 2 = 0 It can be seen from cam curve that slave position is 0 when master position is 0. Calculation method: f (0) =0. Slave position = 0* slave scaling 2 + slave offset 0 = 0.
Therefore, after “MC_CamIn” is executed, the coordinate of the first point is current point (30,180) which corresponds to the point (0, 0) in the cam curve. Actual master position: Actual master and slave position corresponding the terminal point of cam curve It can be seen from cam curve that master axis need move 360 from point (0, 0) to complete one cam cycle. Since master scaling is 2, actually master axis need move another 720 from current position to complete one cycle, i.e. 30+720=750. Actual slave position: It can be seen from cam curve that slave axis need move 360 to reach the max. value starting from point (0, 0).
Since slave scaling is 2, actually slave axis need move another 720 from current position so as to reach the max. value, i.e. 180+720=900. The actual slave position corresponding to the terminal point of cam curve is 900-720=180 and so the axis position corresponding to terminal point is (750,180). DVP-MC operating manual 4-77 A