Delta AX Series Instruction Manual page 47

AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l
Execute
InSync
Busy
CommandAborted
EndOfProfile
Error
When Execute turns from FALSE to TRUE and Busy is TRUE, InSync turns from False to True as soon as the

synchronization between master and slave axis is completed. When coming to the end of CAM cycle,
EndOfProfile turns from FALSE to TRUE for only one period, then switch back to FALSE. Once the meshing of
master and slave axis is deactivated, such as executing MC_CamOut, CommandAborted turns from FALSE to
TRUE, while both InSync and Busy turns from TRUE to FALSE. Then, CommandAborted will shift from TRUE
to FALSE as well as Execute.
Inputs/Outputs

Name Function
Specifies the
Master
master axis.
Specifies the
Slave
slave axis.
*Note: AXIS_REF_SM3(FB): Every function block contains this variable, which works as the starting program for function blocks.
Function

Relationship between master axis position and slave axis position

The cam relationship which is planned in the software is the position relationship between the master axis and slave

axis. The "position" mentioned here is the cam phase of the master axis / slave axis instead of the actual axis position.
If the cam relationship which is planned is seen as the function CAM as below, the input of the function CAM is the
master axis cam phase and the output is the slave axis cam phase. The formula is shown as below.
y = CAM(x)
x: The master axis cam phase
y: The slave axis cam phase
The cam phase comes from the axis positions and there is a conversion between them. The conversion between

the axis position and cam phase is related with the MasterAbsolute, SlaveAbsolute, MasterCompensation,
SlaveCompensation, MasterScaling, and SlaveScaling.
The slave axis follows the master axis to make the synchronous cam motion by using the MC_CamIn instruction. In

the synchronous cam motion, the corresponding relationship between the master axis position and slave axis
position is based on the pre-planned cam relationship (the cam curve or cam table). The process in which the slave
axis position is calculated through the master axis position is illustrated as follows.
Data Type
AXIS_REF_SM3* AXIS_REF_SM3
AXIS_REF_SM3* AXIS_REF_SM3
Setting Value
(Default Value)
When Execute turns to True and Busy is
False.
When Execute turns to True and Busy is
False.
Ch a p t er 2
Timing to Take Effect
4 2