Delta AX Series Instruction Manual page 52

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
4. Master relative mode (MasterAbsolute = false)/ Slave relative mode (SlaveAbsolute = false)
4.1 Absolute/ Relative mode (StartMode = 0, 1)
Master-slave meshing position: The current position of master axis will be the start position as well as the zero
position on the cam table. The corresponding position of the slave axis on the cam table should also be zero,
while the slave position (meshing) under relative mode should be the sum of corresponding position and slave
current position (0+180=180).
Master Position
Slave Position
EndOfProfile
4.2 Ramp in mode (StartMode = 2)
Master-slave meshing position: The current position of master axis will be the start position as well as the zero
position on the cam table. A compensating curve is added to the slave position according to the settings of
VelocityDiff, Acceleration and Deceleration to avoid jumps.
Master Position
Slave Position
EndOfProfile
Compensations and scaling (MasterCompensation/MasterScaling/SlaveCompensation/Slavescaling)

Position compensations and scaling can be performed by modifying the parameters based on the preplanned cam

curve. For example, you can specify the scaling factor to adjust phase and compensation between master and
slave in cam table with only one cam curve needed for a processed product, which comes in multiple sizes, so as
to switch between different sizes of the product during production. In addition, Compensations and scaling factors
of master and slave axis can be configured respectively.
Compensations and scaling between master and slave axis determine the actual operation for cam profile, which

is demonstrated in the following example. The preplanned cam profile curve is shown below.
Execute
InSync
Busy
300
0
180
0
Execute
InSync
Busy
300
126
0
356
0
Ch a p t er 2
4 7