Chapter 11 Motion Control Instructions
11-187
Slave axis position
Master axis position
MC_CamIn Execution Process
1
2
3
4
5
6
100 1000
ActivationPosition Absolute axis position:
Stage 1: Trigger and execute the MC_CamIn instruction. The master axis absolute position is
100 at the moment.
Stage 2: Wait for the start of the engagement.
Stage 3: The master axis reaches the position for starting the engagement (1000) 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.
 ActivationPosition: Absolute axis phase
When ActivationMode =2, ActivationPosition is an absolute axis phase which is the remainder got
by dividing the axis absolute position by modulo. The slave axis starts to perform the engagement
action as the master axis absolute phase is ActivationPosition.
The absolute axis phase is cyclic. Its absolute axis phase may be equal to ActivationPosition
many times in the motion of the master axis. But the slave axis starts to perform the engagement
action only when the absolute axis phase of the master axis is equal to ActivationPosition for the
first time after the MC_CamIn instruction is executed.
For example, the master axis modulo is 400, ActivationPosition=100 and the master axis position
is 1000 at the time when the MC_CamIn instruction is executed. The slave axis will not perform
the engagement action because the absolute axis phase of the master axis is 200
(200=1000%400) at the time when the MC_CamIn instruction is executed. The slave axis starts to
perform the engagement action as the master axis position is 1300 (Absolute axis phase is
100=1300%400) or 900 (Absolute axis phase is 100=900%400). (% means the mathematic
operation to find the remainder)
Slave axis position
Master axis position
MC_CamIn Execution Process
1
2
3
4
5
6
1000 1300
ActivationPosition Absolute axis phase:
Case 1
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