10-2-12 Changing The Cam Table By Re-Execution Of An Instruction - Omron NY532-1500 User Manual

10 Sample Programming

10-2-12 Changing the Cam Table by Re-execution of an Instruction

This sample changes the cam table during cam motion. CamProfile0 is used when the command posi-
tion for axis 0 is 5000 or less and CamProfile1 is used when it is over 5000.
Main Variables Used in the Programming Samples
Variable name
MC_Axis000
MC_Axis001
CamProfile0
CamProfile1
Pwr1_S
Pwr2_S
CamTable0
CamTable1
Camin_InCam0
Camin_InCam1
Mv_Abs_Act
Hm1_Ex
Hm2_Ex
Mv_Abs_Ex
Camin_Ex
StartPg
* The array elements ARRAY[0..N] are set with the Cam Editor in the Sysmac Studio. The range of the array is 0 to
109 in this sample.
10-44
Data type Default
_sAXIS_REF ---
_sAXIS_REF ---
ARRAY[0..100] OF ---
_sMC_CAM_REF
ARRAY[0..10] OF ---
_sMC_CAM_REF
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Comment
This is the Axis Variable for axis 0.
This is the Axis Variable for axis 1.
This is the cam data variable.*
This is the cam data variable.*
This variable is assigned to the Status out-
put variable from the PWR1 instance of the
MC_Power instruction. It is TRUE when the
Servo is ON.
This variable is assigned to the Status out-
put variable from the PWR2 instance of the
MC_Power instruction. It is TRUE when the
Servo is ON.
TRUE when CamProfile0 is used for the
cam table.
TRUE when CamProfile1 is used for the
cam table.
This variable is assigned to the InCam out-
put variable from the CAMIN instance of the
MC_CamIn instruction. It is TRUE during
cam motion for CamProfile0. After this vari-
able changes to TRUE, it remains TRUE
until the operation is completed or can-
celed.
This variable is assigned to the InCam out-
put variable from the CAMIN instance of the
MC_CamIn instruction. It is TRUE during
cam motion for CamProfile1. After this vari-
able changes to TRUE, it remains TRUE
until the operation is completed or can-
celed.
This variable is assigned to the Active out-
put variable from the MV_ABS instance of
the MC_MoveAbsolute instruction.
This variable is used to re-execute the
MC_Home instruction for axis 0.
This variable is used to re-execute the
MC_Home instruction for axis 1.
This variable is used to execute the
MC_MoveAbsolute (Absolute Positioning)
instruction.
This variable is used to execute the MC_-
CamIn (Start Cam) instruction. It is used in
ST programming.
When StartPg is TRUE, the Servo is turned
ON if EtherCAT process data communica-
tions are active and normal.