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Mitsubishi Electric RD77MS2 User Manual Page 53

Melsec iq-r simple motion module.
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Output value: Y
[Output axis position units]
Generated line
segment from
(X
, Y
) and (X
0
0
2147483647
(X
, Y
0
0
(Cam reference position)
-2147483648
CAUTION
• If the cam data is set incorrectly, such as simply setting a target value and command speed similar to positioning control, the position and speed
command to the servo amplifier increases, and may cause machine interface and servo alarms such as "AL.31" (Overspeed) or "AL.35" (Command
frequency error) in the servo amplifier. When creating and changing cam data, execute a trial operation and provide the appropriate adjustments. Refer
to "SAFETY PRECAUTIONS" for precautions on test operations and adjustments.
Feed current value of cam axis
The feed current value is calculated as shown below.
■Stroke ratio data format
Feed current value = Cam reference position + (Cam stroke amount  Stroke ratio corresponding to cam axis current value
per cycle)
■Coordinate data format
Feed current value = Cam reference position + Output value corresponding to cam axis current value per cycle
When the cam axis current value per cycle is in the middle of the defined cam data (Stroke ratio data/Coordinate data), the
middle value is calculated from the nearest cam data.
Cam axis current
value per cycle
Cam data
1 resolution or between 2 coordinates
(X
, Y
)
3
3
, Y
)
1
1
(X
, Y
)
4
4
(X
, Y
)
2
2
(X
(X
, Y
)
1
1
)
0
Cam axis length per cycle [Cam axis cycle units]
Calculate the middle value
from the nearest cam data.
Generated line
segment from
(X
, Y
) and (X
, Y
)
9
9
10
10
(X
, Y
10
10
, Y
)
5
5
(X
, Y
)
9
9
Input value: X
(X
, Y
)
(X
, Y
)
6
6
8
8
(X
, Y
)
7
7
)
3 CAM FUNCTION
3.1 Control Details for Cam Function
3
51

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