Delta RMC151 - Manual (Page 757)

8 Command Reference
The plot shows Axis 1 (the master)
moving at a constant 5 in/sec. The
carriage (Axis 0) is stopped, then
accelerates to catch up to the master.
Axis 0 and Axis 1 Target Positions are
synchronized at 8 and 10, as indicated
by the legend to the right. The legend
indicates the values at the cursor in the
plot.
In the plot, the axes remain
synchronized (while the system is
cutting) until approximately 3.5
seconds, at which point a command
was issued to move the carriage back
to its home position. This return move
can be done with a Move Absolute, or
even the Gear Pos (Clutch by Distance)
command.
Plot Legend
Master Start Distance Details
The Master Start Distance specifies how far from the Master Sync Position the
clutching should start. This position is called the Master Start Position. When the
master reaches this position, the slave axis begins moving. This section describes how the
Master Start Distance affects the motion and cases in which the RMC modifies the
Master Start Distance.
If the Slave is Initially Stopped or Geared at a Zero Ratio
The distance from the Slave Start Position (slave position at the time the command is
issued) to the Slave Sync Position is called the Slave Distance. If the slave is stopped
or geared at a ratio of zero when this command is issued, and the Master Start
Distance is greater than (2.5 x Slave Distance / Final Gear Ratio), then the Master
Start Distance will be reduced to (2.5 x Slave Distance / Final Ratio). This behavior is
due to the mathematical formula used to calculate the profile. Without this behavior, the
profile might move in the wrong direction first. Notice that after the command is issued,
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