4. Motion Control Instructions 4.5.2. MC_CamIn Explanation of the Instruction: MC_CamIn is applied to establish the cam relation between master axis and slave axis. When the cam relation is established, this instruction can be used to specify the offset value, scaling and start mode of the master axis and slave axis according to the application demand. After the execution of this instruction is completed, slave axis will make the motion following the master axis in accordance with the cam curve. Explanation of input and output parameter of the instruction:
DVP-MC operating manual 4-59 API Cam-in instruction Controller 65 MC CamIn _ 10MC11T Parameter Data Available Explanation name type device Axis The slave axis number UINT Constant, D Master The master axis number. We suggest that the master axis number should be less than the slave axis number so that the slave axis could better follow the master axis for motion. The axis number can be set in order of 1~24 from small to large. UINT Constant, D Execute This instruction is executed when “Execute” turns Off –> On. BOOL M,I,Q, Constant MasterOffset The cam position offset of master axis. Unit: unit. REAL Constant, D SlaveOffset The cam position offset of slave axis. Unit: unit.
REAL Constant, D MasterScaling The configuration parameter of master axis scaling, which is used for scaling the cam curve. (>0) REAL Constant, D SlaveScaling The configuration parameter of slave axis scaling, which is used for scaling the cam curve. (>0) REAL Constant, D StartMode Start mode: 0: start up by jumping to the positive target position immediately; 1: Start up by taking the shortest way; 2: start up toward the positive direction; 3: start up toward the negative direction. UINT Constant, D