Omron CS1W-MC221 - 02-2008 Operation Manual page 103

Overview of Version 1 Upgrades
Supplementary
Description of Operand
Table
Precautions when
Creating Cam Waveforms
76
• When an MPG or axis feedback (encoder) is used for the input axis, input
axis oscillation may affect the operating axis. If backlash compensation is
set for the operating axis, oscillation will occur in the backlash compensa-
tion range. The larger the backlash, the greater the oscillation becomes.
Note It is recommended that a higher resolution encoder be used for the
input axis than for the operating axis.
• If the electronic gear function and the electronic cam function are used
one after the other, the speed must be reduced to zero between them.
• If the master axis and slave axis are switched and then the slave axis is
operated by the electronic cam function with respect to the master axis
encoder, the servomotor's present position will always have an error of
several pulses, and the calculation of the travel distance will gradually
deviate. This will require separate programming for position compensa-
tion.
• When the electronic cam function is executed, the override function for
the operating axis is disabled.
Cam starting position = Cam starting angle ÷ 360° x Cam rotation distance
The cam starting angle is the angle for starting cam operation within the cam
rotation range.
Operating axis
Pulses, mm,
deg, inch
This point is taken
as operating axis
relative position 0.
Stroke width
Input axis position
If the operating speeds are different for the cam axis and the stroke axis, the
cam table size must be increased in order to provide a smooth acceleration/
deceleration curve. (Make the cam tables detailed.)
The points in the cam table are represented by the black dots in the following
graph.
Cam starting position
(cam starting angle)
Cam rotation distance (cam rotation angle)
Section 1-12
Created by cam table.
Input axis
Pulses, mm
deg, inch