Delta DVP-15MC Series - Page 665

Chapter 11 Motion Control Instructions
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11
There are three modes of StartMode for selection: the shortest way (mcRamplnShortest), positive
direction (mcRamplnPositive) and negative direction (mcRamplnNegative). Users can select the right
engagement mode according to actual need.
 StartMode=0（The shortest way)
As StartMode=0, in the execution of the engagement action, the slave axis moves toward the
position for synchronization by taking the shortest way. At the moment, the motion of the
slave axis is affected by the Velocity, Acceleration Deceleration and Jerk parameters.
 StartMode=1（Positive direction）
As StartMode=1, in the execution of the engagement action, the slave axis moves toward the
position for synchronization in the positive direction. At the moment, the motion of the slave
axis is affected by the Velocity, Acceleration Deceleration and Jerk parameters.
 StartMode=-1（Negative direction）
As StartMode=-1, in the execution of the engagement action, the slave axis moves toward
the position for synchronization in the negative direction. At the moment, the motion of the
slave axis is affected by the Velocity, Acceleration Deceleration and Jerk parameters.
For example, as the engagement begins, the master axis cam phase and slave axis cam phase
are 80 and 180 respectively (as point O below). According to the defined cam relationship, the
master axis cam phase is 80 and the slave axis cam phase is 40 (as point A or B below). If the
value of StartMode is different, the way the slave axis moves is different in the engagement
process.
StartMode=0：The slave axis moves from point O to point A and the synchronization is achieved
at point A since the distance from point O to point A is less than that from point O
to point B.
StartMode=1： The slave axis gradually moves from point O to point B in the positive direction.
StartMode=-1： The slave axis gradually moves from point O to point A in the negative direction.
Slave axis phase
Master
axis phase
0
180 360
300
Plann ed Cam Curve
Slave axis position ( )Slaveaxis phase
Master axis position
（
Master axis phase)
360
(360)
180 (180)
360 (0)
66 0(300)
0 (0)
B
A
o
80
(80)
40(40)
40 0(40)
S lave axis posi tion
(Slave ax is phase )
Mast er ax is pos ition
( aste rM axis pha se)
360
(360)
18 0(180)
360(0)
660 (30 0)
0( 0)
B
A
o
80
(80)
40(40)
400 (40)
StartMode=0
M as ter ax is po sit ion
( asterM ax is p has e)
360
(360)
180(180)
360 (0)
660
(
300
)
0(0)
B
A
o
80
(80)
40 (40)
400 (40)
StartMode=1
Slav e axis positi o n
(Slave ax is p ha se)