Delta MMC120 - Manual (Page 57)

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ACCEL 10000 12000 15000 18000
DECEL 10000 12000 15000 18000
SPEED 10000 12000 15000 18000
Profile 8 9 10 (0A) 11 (0B)
MODE 1 1 1 1
ACCEL 100 100 100 200
DECEL 100 100 100 200
SPEED 20000 25000 30000 35000
Profile 12 (0C) 13 (0D) 14 (0E) 15 (0F)
MODE 1 1 1 1
ACCEL 200 200 200 100
DECEL 200 200 200 100
SPEED 40000 45000 50000 10000
Synchronizing Axes
Axis synchronization is achieved by setting the Sync bit in the MODE word on both axes
and then issuing a Go or Relative Move command to the last axis.
The following requirements exist when synchronizing axes:
• Both axes must be initialized, as indicated by the Parameter Initialized bit in the
STATUS word. Do this by issuing the Set Parameters command.
• The low eight MODE bits of both synchronized axes must match exactly.
• Synchronized commands ( Go and Relative Move ) must be issued to the second axis.
• Synchronized commands issued to the first axis are ignored.
• The MODE , ACCELERATION , DECELERATION , SPEED , and COMMAND
VALUE fields must be set on both axes before any synchronized commands are
issued.
Internal to the MMC120, the synchronization is accomplished as follows:
• The axis with the longest travel distance is designated the “master”. If both axes are
moving the same distance, then first axis is designated the “master”. The other axis is
designated as the “slave”.
• The maximum speed of the master axis is limited so neither of the synchronized axes
will go above their requested SPEED .
• The master then moves toward its destination using its own ACCELERATION ,
DECELERATION , and the speed calculated in the above step.
• At the same time, the TARGET POSITION of the slave axis is ratioed to the target
position of the master based on the distance each is traveling.
• If either synchronized axis is halted during the move, the other axis will halt as well.