Omron NY532-1500 Reference Manual page 646

5 Common Command Instructions
Name Meaning
ConnectingAc- Connecting
cEnable Acceleration
Enable
ConnectingAcc Connecting
Acceleration
PhasePitch Phase Pitch
*1 Specify a value that has an absolute value of 0.001 or greater. The value is rounded to the forth decimal place.
*2 Phase (Master Axis Phase) and Distance (Slave Axis Displacement) are effective to seven digits. If you enter more than
seven digits, the digits that are not effective are truncated. If a truncated value is the same as the value of another value in
Phase, a Cam Node Master Axis Phase Not in Ascending Order error (error code: 5740 hex) occurs. Enter values in
ascending order for seven digits or less.
*3 If you specify a straight line with constant displacement, Distance (Slave Axis Displacement) is disabled and the value
that is specified for the previous node point is used for processing. If the array element number is 0 and you specify a
straight line with constant displacement, Distance (Slave Axis Displacement) is treated as 0.
*4 Make the settings so that the total of all cam data that is created for each node point is 65,535 or less.
Example of Creating a Cam Table
This section provides an example of creating a cam table with this instruction.
There are four elements in the array variable that is specified for CamNodes. _mcStraightLine (Straight
Line) is specified for Curve (Curve Shape). ConnectingVel (Connecting Velocity) and ConnectingAcc
(Connecting Acceleration) are disabled, as are InitVel (Initial Velocity) and InitAcc (Initial Acceleration)
in CamProperty (Cam Properties), so they are not given here. The values of Phase (Master Axis
Phase) and Distance (Slave Axis Displacement) are given in the following table.
Element number in Cam-
Nodes array variable
0
1
2
3
This example uses a cam data variable with 4,000 elements that was created in advance with the Cam
Editor of the Sysmac Studio. All phases and displacements are set to "undefined."
The cam data variable for the cam table is as shown in the following table before the instruction is exe-
cuted.
Element No.
0
1
...
1799
1800
5-26
Data type Valid range
BOOL TRUE or FALSE
REAL
Negative number,
*1
number, or 0
REAL
Positive number
Distance (Slave
Phase (Master
Axis Displace-
Axis Phase)
180.000
360.000
0.00
---
Phase (Phase)
(Undefined)
(Undefined)
(Undefined)
(Undefined)
NY-series Motion Control Instructions Reference Manual (W561)
Set to TRUE to enable the specified con-
necting acceleration when the specified
curve shape is polynomic 5.
Set to FALSE to disable the connecting
acceleration.
*1 If the specified curve shape is polynomic 5,
positive
you can specify the acceleration of the
connecting section to the next curve.
Use this setting for smooth connections
between curves.
The unit is command units/s
*1 The phase between node points is divided
by the specified pitch width.
The unit is command units.
Curve (Curve Shape)
ment)
180.000 _mcStraightLine
0.000 _mcStraightLine
--- ---
--- ---
Distance (Displace-
ment)
(Undefined)
(Undefined)
(Undefined)
(Undefined)
Description
2
.
*4
PhasePitch
0.100
0.100
---
---