Common Command Instructions I - Omron NY532-1500 Reference Manual

Additional Information
• You can check the maximum number of cam data in the cam table with the data type of the
global variable on the Sysmac Studio or by executing the SizeOfAry (Get Number of Array Ele-
ments) instruction in the user program.
• You can calculate the number of cam data in the cam table that is created by this instruction
with the following formula.
T
cd
Note: If Phase (Master Axis Phase) cannot be divided evenly by PhasePi-
• Do not use this instruction to create a cam table with more than 65,535 cam data.
• You can check the number of cam data in the created cam table with EndPointIndex. You can
use an HMI to display the value of EndPointIndex to improve the resolution of the cam table,
add node points, or make other adjustments.
• Refer to information on the MC_CamIn (Start Cam Operation) instruction for details on the
cam data in cam tables.
• Refer to information on the MC_SetCamTableProperty (Set Cam Table Properties) instruction
for information on the end point index.
• Refer to the NJ-Series Sysmac Studio Version 1 Operation Manual (Cat. No. W504-E1-10 or
higher) for information on the setting items for CamProperty (Cam Properties) and CamNodes.
• Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504-E1-10 or higher) for
information on the relationship between curve shapes, connecting velocities, and connecting
accelerations.
Relation to CPU Unit Operating Modes
The cam table creation process for this instruction continues even if the operating mode of the CPU
Unit changes to PROGRAM mode.
Deleting the Instruction with Online Editing
The cam table creation process for this instruction continues even if you delete the instruction in online
editing.
Execution of an MC Test Run
The CommandAborted output variable from the instruction changes to TRUE if you execute an MC Test
Run during the cam table creation process for this instruction, but the creation process continues.
NY-series Motion Control Instructions Reference Manual (W561)
M M
n 1
–
–
k k 1
∑
–
= ------------------------------- + 1
P k
k = 0
T
: Number of cam data in cam table
cd
k: Element number in cam node array variable
M
: Phase (Master Axis Phase) of element number k in cam node array
k
variable (However, Phase (Master Axis Phase) of M
P
: PhasePitch (Phase Pitch) of element number k in cam node array
k
variable
n: Number of node points
tch, the value is rounded up at the first decimal place.
5 Common Command Instructions
is taken as 0.)
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5
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