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Anti-reverse mode

P1320[0] - MPRO_ECAM_CamMaster_RevLockMode is used to define the reverse

lock mode, which can be used either with or without path compensation. The dashed

lines in the following diagrams indicate what the engagement distance is:

l INACTIVE (0) = Reverse lock inactive

Theslavefollowsthemasterdirectlyandineverydirection.

l ACTIVE WAY COMP (1) = Reverse lock active - with way compensation

Whiletheslaveacceleratestothespeedofthemasterduringengagement,

themasterandslavedonotmovesynchronously.Thisfunctionneedstobe

selectedinordertoquicklycatchuptothemasterthatisrunningahead.

l Master(blackline)rotatesintheblockeddirection

l Theslave(blueline)willremainstopped

l Masterrotatesintheunblockeddirection

ID No.: 0842.26B.5-01Date: 09.2020

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284

8 Motion profile

l Slaveonlystartsmovingalongwithitagainassoonasthemaster

reachesthezeroposition.

Example:

Ifthemaster,whichhasmovedtwomotorrevolutionsinthedirectionblocked

fortheslave,thenmovesintheunblockeddirectionagain,theslaveonly

movesoffwhenthemasterhastraversedthezeropoint.

l ACTIVE (2) = Reverse lock enabled - without path optimization

 



l Master(blackline)rotatesintheblockeddirection

l Theslave(blueline)remainsstopped

l Masterrotatesintheunblockeddirectionagain

l Theslavefollowsthemasterdirectlyintheunblockeddirection

.

Example:

Assumethemasterhasmovedtwomotorrevolutionsinthedirectionfor

whichtheslavelockisenabled.Ifthemasternowmovesinthedirectionfor

whichthereisnolock,theslavewillimmediatelystartrunninginthat

direction.

Keba ServoOne User Manual

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