Omron NX701-1 User Manual page 244

9 Motion Control Functions
Generate Cam Table
With a CPU Unit with unit version of 1.08 or later and the Sysmac Studio version 1.09 or higher, you can
generate the cam table by executing the MC_GenerateCamTable (Generate Cam Table) instruction.
The MC_GenerateCamTable instruction calculates the cam data using the values specified for Cam-
Property (Cam Properties) and CamNodes (Cam Nodes), and rewrites the cam data variable specified
for the CamTable (Cam Table) in-out variable.
When rewriting is completed, the MC_GenerateCamTable instruction updates the end point index of
the cam table and outputs the element number of the cam end point to EndPointIndex (End Point
Index).
It is not necessary to execute the MC_SetCamTableProperty (Set Cam Table Properties) instruction after
the MC_GenerateCamTable instruction is completed.
Cam table
before instruction execution
Element
Phase
numbers
0
1
...
179
180
181
...
Cam table property
Cam node (defining curves)
The cam data variable is an array variable with the data type of cam data structure _sMC_CAM_REF.
You create the cam data variable on the Cam Editor of the Sysmac Studio.
For CamProperty, specify the cam property variable. The cam property variable is an array variable with
the data type of cam property structure _sMC_CAM_PROPERTY. You create the cam property variable
as a user-defined variable on the global variable table of the Sysmac Studio. Or, you create the variable
using the cam data settings on the Sysmac Studio.
For CamNodes, specify the cam node variable. The cam node variable is an array variable with the
data type of cam node structure _sMC_CAM_NODE. You create the cam node variable as a user-
defined variable on the global variable table of the Sysmac Studio. Or, you create the variable using the
cam data settings on the Sysmac Studio.
The cam property variable and the cam node variable are collectively called "cam definition variable".
If the cam definition variable is created as a user-defined variable, the default of its Retain attribute is
Non-retain. You must set the Retain attribute of variable to Retain, if you want to reuse the variable after
changing its value and switching the operating mode to PROGRAM mode or cycling the power supply.
If you set the variable each time of use from the HMI, etc., the attribute can be left Non-retain.
If the cam definition variable is created with the cam data settings on the Sysmac Studio, the Retain
attribute of variable will be fixed to Retain.
9-22
The cam data is
Displacement
calculated and written to
0.0 0.0
the table when the
instruction is executed.
0.0 0.0
... ...
0.0 0.0
Cam end point
0.0 0.0
0.0 0.0
... ...
MC_GenerateCamTable_instance
MC_GenerateCamTable
CamTable
CamProperty
CamNodes
Execute
Cam table
after instruction execution
Element
Phase
numbers
0
1
...
179
180
181
...
CamTable
CamProperty
CamNodes
Done
EndPointIndex Outputs "180" after instruction execution.
Busy
CommandAborted
Error
ErrorID
ErrorParameterCode
ErrorNodePointIndex
NJ/NX-series CPU Unit Motion Control User's Manual (W507)
Displacement
0.0 0.0
1.0 1.0
... ...
179.0 199.0
180.0 200.0
0.0 0.0
... ...