Omron NY532-1500 Reference Manual page 650

5 Common Command Instructions
−
When (P P
final
N = floor
a = -------------------------------------- -
1
(
d final d init
a = 3
–
2
(
a = V
3
T = CycleTime
pitch: PhasePitch of element m in CamNodes
CycleTime: CycleTime (Cycle Time) in CamProperty (Cam Properties)
P
: Largest value of Phase (Master Axis Phase) in valid nodes of CamNodes
max
V
: Initial velocity of cam profile curve [command units/s]
init
However, when m = 0,
V
= InitVel (Initial Velocity) in CamProperty (Cam Properties)
init
When m ≥ 1 and Curve (Curve Shape) of element m-1 in CamNodes is a straight line (_mcStraight-
Line),
(
d
--------------------------------------------------------------------------------------------------------------------------- -
V init
=
(
P final of element m-1 P init of element m-1
When m ≥ 1 and Curve (Curve Shape) of element m-1 in CamNodes is polynomic 3 or polynomic 5,
• ConnectingVelEnable (Connecting Velocity Enable) of element m-1 in CamNodes is TRUE
= ConnectingVel (Connecting Velocity) of element m-1 in CamNodes
V
init
• ConnectingVelEnable (Connecting Velocity Enable) of element m-1 in CamNodes is FALSE
V = 0
init
When m ≥ 1 and the Curve Shape is other than the above
= 0
V
init
V
: Final velocity of cam curve [command units/s]
fin
However, when ConnectingVelEnable (Connecting Velocity Enable) of element m in CamNodes is
TRUE,
V
= ConnectingVel (Connecting Velocity) of element m in CamNodes
fin
When ConnectingVelEnable (Connecting Velocity Enable) of element m in CamNodes is FALSE
• Curve (Curve Shape) of element m+1 in CamNodes is a straight line (_mcStraightLine)
5-30
) / pitch is not an integer,
phase
P final P phase
–
⎛ ⎞
------------------------------------------- -
+ 1
⎝ ⎠
pitch
⋅
V init T
)
–
⋅ ⋅
( )
-------------------------------------- -
2 V + V
init fin
(
d final d init
T
⋅
)
+ V -------------------------------------- - 2
init fin
(
d final d init
–
( )
P final P init
–
⋅
--------------------------------------- -
P
max
of element m-1 d
–
final init
–
T
)
–
–
)
)
of element m-1 P
max
⋅
------------------------------ -
)
CycleTime
NY-series Motion Control Instructions Reference Manual (W561)