Omron NY532-1500 Reference Manual page 651

(
d final of element m+1 d init of element m+1
------------------------------------------------------------------------------------------------------------------------------ -
V fin
=
(
P final of element m+1 P init of element m+1
• Curve (Curve Shape) of element m+1 in CamNodes is not a straight line (_mcStraightLine)
V
= 0
fin
Displacement Calculation Method for Polynomic 5
The element number in the array variable specified for CamNodes is "m."
When polynomic 5 is specified for Curve (Curve Shape) of element m, Phase of element m-1 is set as
the initial value P
the slave axis displacement. When m = 0, calculations are performed with P
Phase of element m is set to the final value P
for element m is set to the final value d
d(n) is calculated as shown below when d(n) is Distance (Displacement) of the nth cam data from d
When 0 ≤ n < N,
d n ( )
= d init
When n = N,
d n ( )
= d final
However, when (P
P final P phase
N = ------------------------------------------- -
When (P
final
N = floor
a 1 = -------------------------------------- -
(
d final d init
a 2 = ---------------------------------------------- -
2
⎛
⎜
–
⎝
a 3 = -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- -
⎛
(
a 4 = ⎜
⎝
NY-series Motion Control Instructions Reference Manual (W561)
–
–
of the master axis phase. In the same way, Distance is set to the initial value d
init
final
5
∑
⋅
( )
+ d final d init a i
–
i = 1
−
P ) / pitch is an integer,
final phase
–
pitch
−
P ) / pitch is not an integer,
phase
P P
–
final phase
⎛ ⎞
------------------------------------------- -
+ 1
⎝ ⎠
pitch
⋅
V init T
)
–
2
⋅
A init T
⋅
( )
d final d init
–
2
T
⋅
( )
-------------------------------------- -
3A init A fin
–
(
d final d init
–
2
T
⋅
)
1.5A init A fin -------------------------------------- -
–
(
d final d init
–
5 Common Command Instructions
)
P
⋅
------------------------------ -
)
CycleTime
of the master axis phase. In the same way, Distance
final
of the slave axis displacement.
i
⎛ ⎞
pitch
⋅
⋅
--------------------------------------- - n
⎝ ⎠
( )
P final P init
–
( )
+ 8V fin + 12V init
)
2
( )
+ 7V fin + 8V init
)
max
and d
set to 0. Also,
init init
⎞
T
⋅
⎟
-------------------------------------- - 20
–
( )
d d
⎠
–
final init
⎞
T
⋅
-------------------------------------- - 15 ⎟
–
( )
d final d init
– ⎠
of
init
.
init
5
5-31