Synchronous Positioning - Omron NJ501-1400 User Manual

Cam data structure array
MyCam1 [0]
.
.
.
MyCam1 [997]
MyCam1 [998]
MyCam1 [999]
MyCam1 [1000]
.
.
.
MyCam1 [4999]
Precautions for Correct Use Precautions for Correct Use
• You cannot change the maximum number of cam data from the user program.
• Execute this instruction after overwriting the cam data in any way that changes the number of
valid cam data. If the number of valid cam data is not updated, the cam operation and the
operation of the EndOfProfile (End of Cam Cycle) of the MC_CamIn instruction may not be as
expected.
For details on the Set Cam Table Properties instruction, refer to the MC_SetCamTableProperty (Set
Cam Table Properties) instruction in the NJ-series Motion Control Instructions Reference Manual (Cat.
No. W508).
9-2-6

Synchronous Positioning

This function performs positioning using a trapezoidal curve while synchronizing the specified slave
axis to the specified master axis. This is a type of electronic cam, but it does not use cam tables created
in the Cam Editor. Operation starts when the MC_MoveLink (Synchronous Positioning) instruction is
executed. Use the MC_Stop instruction to stop the axes in motion. Operation is performed for the Slave
(Slave Axis) and the following are set: Master (Master Axis), MasterDistance (Master Distance), Mas-
terDistanceInACC (Master Distance In Acceleration), MasterDistanceInDEC (Master Distance In Decel-
eration), SlaveDistance (Slave Axis Travel Distance), and MasterStartDistance (Master Following
Distance). The command position or actual position can be specified for the master axis. You can spec-
ify one of the following as the start condition for synchronous operation: start of instruction, when trigger
is detected, or when master axis reaches the master following distance.
The velocity and position of the slave axis are determined by the ratio of the travel distances of the mas-
ter axis and the slave axis as shown in the following figure. The sync start position shown in the follow-
ing figure represents the position where the sync start condition is met.
NJ-series CPU Unit Motion Control User's Manual (W507)
Phase Displacement
Cam start point
0 0
. .
. .
. .
Valid data
359.8 2
359.9 1
360.0 0
Cam end point
0 0
. .
. .
Invalid data
. .
0 0
9 Motion Control Functions
Maximum number of data: 5,000
9
9-19