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Chapter 12 Troubleshooting

Slave axis position

Master axis position

MC_CamIn Execution Process

1000 1180

ActivationPosition Absolute cam phase:

Case 1

Slave axis position

Master axis position

1000

820

Case 2

Stage 1: Trigger and execute the MC_CamIn instruction. The master axis absolute position is

1000 at the moment. (The absolute cam phase is 280)

Stage 2: Wait for the start of the engagement.

Stage 3: The master axis reaches the position for starting the engagement (The master axis

position is 1180 in circumstance 1 and 820 in circumstance 2) and the slave axis starts to perform

the engagement action.

Stage 4: The engagement is being conducted.

Stage 5: The engagement is completed and the master axis and slave axis achieve the

synchronization.

Stage 6: The master axis and slave axis are in the synchronous motion.

Note: As ActivationPosition is the absolute cam phase, the range of the ActivationPosition

parameter value is 0~ cam cycle value (excluding the cam cycle value). If the value of

ActivationPosition exceeds the valid range, an error will occur and the execution will fail as the

MC_CamIn instruction is executed.



Relationship between the master axis position and slave axis position

The cam relationship which is planned in the software is the position relationship between the

master axis and slave axis. The “position” mentioned here is the cam phase of the master axis /

slave axis instead of the actual axis position. If the cam relationship which is planned is seen as the

function CAM as below, the input of the function CAM is the master axis cam phase and the output

is the slave axis cam phase. The formula is shown as below.

y = CAM（x）

x：The master axis cam phase

y：The slave axis cam phase

The cam phase comes from the axis positions and there is a conversion between them. The

conversion between the axis position and cam phase is related with the MasterAbsolute,

SlaveAbsolute, MasterOffset, SlaveOffset, MasterScaling and SlaveScaling parameters.

For details, refer to relevant sections.

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Delta Electronics DVP15MC11T User Manual

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