Omron NY532-1500 Reference Manual page 255

Instruction Details
This section describes the instruction in detail.
Instruction Execution Condition
You can execute this instruction while the master axis is stopped, during position control, velocity
control, or synchronized control. For details on the slave axis, refer to Re-execution of Motion
Instructions on page 3-190 and Multi-execution of Motion Instructions on page 3-191.
Software Limits
If the slave axis exceeds the software limit during cam operation, an error occurs.
Cam Data Variables
A cam data variable is declared as an array of cam data structures. The type declaration for the cam
data structure is shown below.
TYPE
(*Cam data structure*)
_sMC_CAM_REF :
STRUCT
END_STRUCT;
END_TYPE
Create the cam data variables on the Sysmac Studio.
You can specify a name for the cam table name (i.e., the name of the cam data variable).
For example, if you make a cam table called MyCam1 with 1,000 points use the following variable
declaration is automatically made by the Sysmac Studio.
VAR
(*Cam table*)
MyCam1
END_VAR
The following notation is used to specify MyCam1 for this instruction. In this example, the master
axis is Axis1 and the slave axis is Axis2.
Axis1 Master
Axis2 Slave
MyCam1 CamTable
An error will occur if the specified cam table does not exist in the Controller. You can also specify the
same cam table for more than one axis.
The values in cam data variables can be written from the user program. However, any changes to
the values are lost when the power supply to the Controller is turned OFF or the cam data variables
are downloaded from the Sysmac Studio.
The values that are downloaded from the Sysmac Studio are always used when the power supply to
the Controller is turned ON or after the cam data variables are downloaded.
To save any changes, execute the MC_SaveCamTable instruction.
Changes to the cam data variables are retained when the operating mode of the CPU Unit is
changed.
NY-series Motion Control Instructions Reference Manual (W561)
Phase : REAL; (*Phase*)
Distance : REAL; (*Displacement*)
: ARRAY [0..999] OF _sMC_CAM_REF;
MC_CamIn_instance
MC_CamIn
CamTable
3 Axis Command Instructions
Master Axis1
Slave Axis2
MyCam1
3
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