Mitsubishi Electric R16MTCPU Programming Manual page 245

• Specify the device No. with (D) to an even number. The specified device stores the cam position calculation result as shown
below when the calculation is completed.
Cam position calculation
Cam axis current feed value
calculation
Cam axis current value per cycle
calculation
• The cam position calculation does not update the cam reference position automatically.
Operation error
An operation error will occur, and the cam position calculation will not be executed if:
• Cam No. specified with (S1) is outside the range of 0 to 1024. (Details code: 1)
• The cam No. data specified with (S1) does not exist in the cam open area. (Details code: 2)
• The device numbers storing the cam position calculation control data specified with (S2) are outside the range. (Details
code: 3)
• (S2) is not an even-numbered device. (Details code: 4)
• Cam position calculation type specified with cam position calculation control data is set to other than 0 or 1. (Details code:
5)
• Cam axis length per cycle is outside the range of 1 to 2147483647. (Details code: 6)
• Cam axis current value per cycle is outside the range of 0 to (cam axis length per cycle). (Details code: 7)
• The device numbers storing the cam position calculation result specified with (D) are outside the range. (Details code: 8)
• (D) is not an even-numbered device. (Details code: 9)
• The cam axis current value per cycle cannot be calculated by the cam axis current value per cycle calculation. (Details
code: 10)
Program example
■Program which calculates the cam axis current feed value in the linear cam pattern (cam No.
0)
Cam (Linear)
[F10]
//Cam position calculation data set
D10000=K0 //Cam position calculation type=
Cam axis current feed value calculation
D10001=K0 //Unusable
D10002L=K2097152L//Cam stroke amount=
2097152[pulse]
D10004L=K4194304L//Cam axis length per cycle=
4194304[pulse]
D10006L=K0L //Cam reference position=0[pulse]
D10008L=K2097152L
//Cam axis current value per cycle=2097152[pulse]
D10010L=K0L //Cam axis current feed value=
0 (The setting is not required.)
[G10]
X0 //Standby until X0 turns ON
[F20]
//Cam position calculation for cam No.0
(The result is stored in W1F00L.)
CAMPSCL K0,D10000,W1F00L
END
Description
The cam axis current feed value that is calculated within the following range is stored.
-2147483648 to 2147483647 [Output axis position units]
The cam axis current value per cycle that is calculated within the following range is stored.
0 to (Cam axis length per cycle-1) [Cam axis cycle unit]
Cam reference
position
0[pulse]
Cam axis current value per cycle
2097152[pulse]
Cam axis length per cycle
4194304[pulse]
Cam axis current
value feed value
1048576[pulse]
4 OPERATION CONTROL PROGRAMS
4.16 Advanced Synchronous Control Dedicated Function
Cam stroke amount
2097152[pulse]
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