10-2-14 Shifting The Phase Of A Master Axis In Cam Motion - Omron NY532-1500 User Manual

10-2-14 Shifting the Phase of a Master Axis in Cam Motion

This sample synchronizes a slave axis in cam motion with a master axis in velocity control. If StartOn is
TRUE, the phase of the master axis is shifted with the MC_Phasing (Shift Master Axis Phase) instruc-
tion. The slave axis is synchronized with the shifted phase.
Main Variables Used in the Programming Samples
Variable name
MC_Axis000
MC_Axis000.Details.Homed
MC_Axis000.MFaultLvl.Active
MC_Axis001
MC_Axis001.Details.Homed
MC_Axis001.MFaultLvl.Active
CamProfile0
Pwr1_Status
Pwr2_Status
StartOn
StartPg
Camin_Ex
Vel_Ex
Phasing_Ex
* The array elements ARRAY[0..N] are set with the Cam Editor in the Sysmac Studio. The range of the array is 0 to
360 in this sample.
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Data type Default
_sAXIS_REF ---
BOOL FALSE
BOOL FALSE
_sAXIS_REF ---
BOOL FALSE
BOOL FALSE
ARRAY[0..360] OF ---
_sMC_CAM_REF
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
BOOL FALSE
10 Sample Programming
Comment
This is the Axis Variable for axis 0.
TRUE when home is defined for axis 0.
TRUE when there is a minor fault level error
for axis 0.
This is the Axis Variable for axis 1.
TRUE when home is defined for axis 1.
TRUE when there is a minor fault level error
for axis 1.
This is the cam data variable.*
This variable is assigned to the Status output
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 output
variable from the PWR2 instance of the
MC_Power instruction. It is TRUE when the
Servo is ON.
This variable is used to start shifting the
phase of the master axis.
When StartPg is TRUE, the Servo is turned
ON if EtherCAT process data communica-
tions are active and normal.
This variable is used to execute the MC_-
CamIn (Start Cam) instruction. It is used in
ST programming.
This variable is used to execute the
MC_MoveVelocity (Velocity Control) instruc-
tion. It is used in ST programming.
This variable is used to execute the
MC_Phasing (Shift Master Axis Phase)
instruction. It is used in ST programming.
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