Omron NY532-1500 Reference Manual page 652

5 Common Command Instructions
⎛
(
⎜
–
⎝
a 5 = -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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
A
: Initial acceleration of cam profile curve [command units/s
init
However, when m = 0,
A = InitAcc (Initial Acceleration) in CamProperty (Cam Properties)
init
When m ≥ 1 and Curve (Curve Shape) of element m-1 in CamNodes is polynomic 5,
• ConnectingVelEnable (Connecting Velocity Enable) of element m-1 in CamNodes is TRUE
A
= ConnectingAcc (Connecting Acceleration) of element m-1 in CamNodes
init
• ConnectingVelEnable (Connecting Velocity Enable) of element m-1 in CamNodes is FALSE
A
= 0
init
When m ≥ 1 and Curve (Curve Shape) of element m-1 in CamNodes is not polynomic 5,
A
= 0
init
A
: Final acceleration of cam curve [command units/s
fin
However, when ConnectingAccEnable (Connecting Acceleration Enable) of element m in Cam-
Nodes is TRUE,
A = ConnectingAcc (Connecting Acceleration) of element m in CamNodes
fin
When ConnectingAccEnable (Connecting Acceleration Enable) of element m in CamNodes is
FALSE,
A
= 0
fin
Refer to Displacement Calculation Method for Polynomic 3 on page 5-29 for information on V
velocity of cam profile curve [command units/s]) and V
units/s]).
5-32
2
T
⋅
)
-------------------------------------- -
A init A fin
–
(
d final d init
–
( )
P final P init
–
⋅
--------------------------------------- -
P max
⋅
( )
+ 6V fin + 6V init -------------------------------------- - 12
)
(
d
final
2
2
]
2
]
(final velocity of cam curve [command
fin
NY-series Motion Control Instructions Reference Manual (W561)
⎞
T
⎟
–
)
d
⎠
–
init
(initial
init