Yaskawa MP2000iec - Manual (Page 15)

Subject: Example Code Manual Product: MP2000iec Doc#: EM.MCD.09.095
Title: Example Code Manual for Linear Flying Shear on MP2300Siec Sigma-5 Demo using camming
July 13, 2009 Page 15 of 21
As seen from Figure 13, parameter 1031 is used to capture the raw master position when the latch was
triggered.
Figure 14: Calculating the modular master position corresponding to the raw master position
The modular master position is required to make a shift when a part is detected when the slave is not
synchronized and at home. (In order to start a new cam relation). This is shown in Figure 14. The bit ‘calculate’ is
used to trigger this calculation.
The shift for the first part detected is different for parts detected while the slave is in sync with the master. The
phase shift and distance calculation are as shown in Figure 15