Delta AX Series Instruction Manual page 48

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
The following formula is generated from the figure above:

Position_Slave=SlaveScaling×CAM(MasterScaling×MasterPosition+MasterCompensation)+
SlaveCompensation
It can be seen that when master axis is in absolute mode, master position is the remainder of the current master
position divided by modulo; When master axis is in relative mode, master position is the start point position (usually
0) of master axis in the corresponding cam curve.
Relation between StartMode and MasterAbsolute/ SlaveAbsolute of CamTableSelect

Absolute mode (StartMode = 0): The slave current position is not involved in the Cam calculation as the cam

synchronization starts, However, a jump can be caused if the current position of slave axis and its start position
from the Cam are not the same
Relative mode (StartMode = 1): Cam changes according to the current position of slave axis, which the slave axis

position will be added to the slave current position for calculation. If the slave setpoint position according to the
cam is not at the start point 0, a jump may occur.
Ramp mode (StartMode = 2, 3, 4): Add a motion curve for compensation according to VelocityDif, Acceleration,

Deceleration, and Jerk, so as to prevent a jump in cam when meshing starts.
MC_CamTableSelect.MasterAbsolute
MC_CamIn.StartMode
absolute
absolute
relative
relative
ramp_in
ramp_in
ramp_in_pos
ramp_in_pos
ramp_in_neg
ramp_in_neg
Cam table

absolute
relative
MC_CamTableSelect.SlaveAbsolute
Master axis
Absolute mode
Relative mode
True
False
True
False
True
False
True
False
True
False
Ch a p t er 2
Slave axis
Absolute mode
Relative mode
Relative mode
Relative mode
Ramp in Absolute
mode
Ramp in Relative
mode
Ramp in positive
Absolute mode
Ramp in positive
Relative mode
Ramp in negative
Absolute mode
Ramp in negative
Relative mode
4 3