4. Motion Control Instructions Notes: 1. In a cam system, to call one cam curve, "CamTableSelect" should be called to select the corresponding cam table first and then "CamIn" is executed; if the cam curve is to be changed into another one, “MC_CamTableSelect” is called again to select another cam table. 2. As axis is in absolute mode, the offset parameter (Master Offset or SlaveOffset) is valid but they can not be negative value; as axis is in relative mode, the offset parameter is invalid. 3. Electronic cam curve can be edited in CANopen Builder software and it defines the corresponding position relation between terminal actuators of master axis and slave axis with the unit: unit. 4.
The position in the cam curve of master axis or slave axis is the remainder of actual axis position of divided by modulo; after MC_CamIn is executed, the method of calculating the meshing point in the cam curve is shown as below. Slave position = f [(master position + master offset)/ master scaling]* slave scaling + slave offset Method of calculating the master position in the above formula: When master is in absolute mode, master position is the remainder of the current position of master axis divided by modulo; When master is in relative mode, master position is the starting point position of master axis in the corresponding cam curve (usually 0).
“f” in above formula represents the cam curve relation between master and slave axis. (CAM). 5. If the instruction has been executed but not finsied yet, the rising edge which occurs at Execute does not affect the instruction execution. 6. When the rising edge occurs at Execute after the instruction execution is finished, re-execute the instruction. 4-60 DVP-MC operating manual Parameter Data Available Explanation name type device CamTableID Corresponds to the node address of the electronic cam in CANopen Builder software. Setting range: 1~16. UINT Constant, D InSync “InSync” turns on after master axis and slave axis establish the cam relation; When “Execute” turns off, InSync is reset.
BOOL M,Q Error If any error is detected, "Error" turns on; when "Execute" turns off, "Error" is reset.。 BOOL M,Q ErrorID Error code. Please refer to section 5.3. UINT D EndOfProfile If “MC CamTableSelect“ is executed and Periodic _ parameter is 0 (non-cyclic): “EndOfProfile” turns on after the execution of MC CamIn is finished once; “EndOfProfile” is reset as _ “Execute” turns off. BOOL M,Q