TECHNICAL NOTE
MOTION APPLICATION ENGINEERING GROUP
Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085
(800) YASKAWA - Fax (847) 887-7280
11/23/2005 44 of 44 eng/05.055/MCD
Delta Scan
The delta scan technique is a convenient method to calculate the change in position or value at
the scan rate. This is useful in creating a modulus function or saw tooth position change for a
virtual master that repeats cyclically. By using this method a saw tooth waveform is generated to
represent the change of position versus time. This technique is also useful in calculating speed
compensation that may be used to account for time delay due to network updates and the scan
of the drawings. The delta scan method is the same as for the modulus and gearing techniques,
repeated below for clarity.
1. Calculate the master position difference from the last scan
2. Increment the virtual master by the scan differential amount
The results can be multiplied by a given number of Mechatrolink network cycles for speed
compensation. This is possible because Mechatrolink network updates are deterministic.
To Next Page
Loading...
Need help?
General
