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Mitsubishi Electric RD77MS2 User Manual Page 55

Melsec iq-r simple motion module.
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Cam data starting point
This setting is only valid for cam data using the stroke ratio data format.
The cam data point corresponding to "Cam axis current value per cycle = 0" can be set as the cam data starting point.
The default value of the cam data starting point is 0. (The cam axis is controlled with cam data starting from the 0th point
(stroke ratio 0%).)
When a value other than 0 is set for the cam data starting point, cam control is started from the point where the stroke ratio is
not 0%.
The cam data starting point is set for each cam data. The setting range is from 0 to (cam resolution - 1).
Cam axis current
value per cycle
Cam reference
position
(At 2nd cycle)
Feed current value
Cam reference
position
(At 1st cycle)
Cam data
starting point
At the 0th point
Timing of applying cam control data
■Stroke ratio data format
If "[Pr.439] Cam axis length per cycle", "[Pr.440] Cam No." or "[Pr.441] Cam stroke amount" is changed during synchronous
control, the new value is accepted and applied when the cam axis current value per cycle passes through the 0th point of cam
data, or is on the 0th point.
The cam reference position is updated when the cam axis current value per cycle passes through the 0th point of cam data.
■Coordinate data format
If "[Pr.439] Cam axis length per cycle" or "[Pr.440] Cam No." is changed during synchronous control, the new value is
accepted and applied when the cam axis current value per cycle passes through 0, or is on 0.
The cam reference position is updated when the cam axis current value per cycle passes through 0.
Linear cam control
When "0" is set for "[Pr.440] Cam No.", the cam data operates as a straight line with a 100% stroke ratio at the last point.
Cam axis current
value per cycle
Cam reference
Feed current value
position
(At 1st cycle)
Cam reference
position
(At 3rd cycle)
At last point
Cam reference
Cam reference
position
position
(At 3rd cycle)
(At 2nd cycle)
Stroke amount × 100%
t
t
t
t
3.1 Control Details for Cam Function
3
3 CAM FUNCTION
53

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