Yaskawa MP2000iec - Manual (Page 7)

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 7 of 21
Figure 6: Multiple continuous registrations at unequal intervals
Figure 7 is an illustration of a first part detection or part detection after a cam out. It can be seen that at part
detection, the master position is 32 degrees. Sensor to home distance is 180 degrees. This means that the cam
cycle will have to start when the actual master position is 32 + 180 = 212 degrees. This first part shift can be
seen in Figure 7. If a part is not detected in the window area, a cam out is commanded and after the cam out is
done, a phase shift to negate all cumulative phase shifts is carried out so that the total shift becomes zero and
the master position and shifted master position match up as can be seen at the end of the profiles in figure 7.