Omron NY532-1500 Reference Manual page 256

3 Axis Command Instructions
Additional Information
• The cam data variables are not published to the network.
For example, you can monitor the values of MyCam1[10].Phase or MyCam1[10].Distance
from the Sysmac Studio, but you cannot access from another Controller via EtherNet/IP.
• Use the Synchronize Menu of the Sysmac Studio to download the project.
Starting Cam Operation
After the instruction starts, the master axis has to reach the StartPosition (Cam Table Start Position).
After the master axis passes the StartPosition (Cam Table Start Position), the start point in the cam
table is executed and the InCam output variable (Cam Motion) changes to TRUE.
Relative amounts are applied to the phase and displacements in the cam table so that the start point is
zeroed. The absolute position of each axis at each phase is the relative value from the absolute position
of the axis at the start point of the cam table. For example, if the Count Mode of the master axis is 0° to
360° in Rotary Mode, the StartPosition (Cam Table Start Position) is 60. The absolute position of the
master axis is the phase added to the StartPosition, as shown in the following cam table. The absolute
position of the slave axis is the displacement from the cam table added to the absolute position of the
slave axis at the start point of the cam table.
Cam Table
Phase Displacement
Start point 0
Cam data 60
120
180
240
300
End point
360
When the MasterStartDistance (Master Following Distance) is then passed, the cam operation of the
slave axis starts and the InSync output variable changes to TRUE.
The MasterStartDistance (Master Following Distance) is specified either as an absolute position, or as
a relative distance from the StartPosition (Cam Table Start Position). Set whether to specify using an
absolute position or relative position with StartMode.
Example 1: Differences in Slave Axis Operation for Differences in
MasterStartDistance
In this example, the same cam table and same master axis are used.
The cam table settings are given in the following table.
Master axis
0.000
80.000
120.000
360.000
3-172
0
StartPosition=60
200
100
300
100
200
0
Slave axis Cam curve
0.000 ---
80.000 Straight line
200.000 Straight line
360.000 Straight line
Absolute Position of Axes
Master axis Slave axis
60 0 + Absolute position of slave axis at start point of cam table
120 200 + Absolute position of slave axis at start point of cam table
180 100 + Absolute position of slave axis at start point of cam table
240 300 + Absolute position of slave axis at start point of cam table
300 100 + Absolute position of slave axis at start point of cam table
360 200 + Absolute position of slave axis at start point of cam table
60 0 + Absolute position of slave axis at start point of cam table
Connecting Connecting
velocity acceleration
--- ---
360.000 0.000
1080.000 0.000
240.000 0.000
NY-series Motion Control Instructions Reference Manual (W561)
Phase pitch
---
0.010
0.010
0.010