731
Appendix
Appendix D Customized Function - Supplementary Description of Electronic Cam Functions
M100
Enable DRVA pulse
output
Pulse
frequency
M101
Enable motion
superposition
SM22
Motion being
superposed
Pulses increased
Pulses
reduced
When M100 is ON and the DRVA positioning instruction is executed to output pulses, set M101 to enable
motion superposition. In this way, the pulse frequency can be changed by superposing a motion so that
pulses can be increased or reduced.
As for electronic cam marking, you can enable motion superposition by detecting the time or distance
between two color labels to compensate for the feeding axis in real time and improve the marking accuracy.
Speed after motion
superposition
Speed before motion
superposition
Displacement after
motion superposition
Displacement before
motion superposition
4) Special Delta instruction
The following gure shows a two-degree-freedom Delta manipulator.
C(x,y)
r0r0
r1
r2
r1
r2
O
A(x1,y1)
B(x2,y2)
a1a2
x
y
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