Using A Cam Profile Curve To Correct The Sync Start Position - Omron NJ501-1400 User Manual

10 Sample Programming

10-2-13 Using a Cam Profile Curve to Correct the Sync Start Position

This sample uses a cam profile curve to correct a slave axis in a gear motion. The slave axis for gear
motion is MC_Axis001, a virtual Servo axis, and the slave axis for cam motion is MC_Axis002, also a
virtual Servo axis. These slave axes are combined with MC_CombineAxes and the results is output to
MC_Axis003, a Servo axis. The master axis is MC_Axis000, a Servo axis.
The processing flow is as follows:
Synchronized motion with gear operation instructions
Master axis: MC_Axis000
Slave axis: MC_Axis001
Axis Type Settings
The axes types are set in the axis parameters for each axis as given below.
Parameter name
Axes variable name
Axis type
Main Variables Used in the Programming Samples
Variable name
MC_Axis000
MC_Axis000.Details.Homed
MC_Axis000.MFaultLvl.Active
MC_Axis001
MC_Axis001.MFaultLvl.Active
MC_Axis002
MC_Axis002.MFaultLvl.Active
MC_Axis003
MC_Axis003.Details.Homed
MC_Axis003.MFaultLvl.Active
CamProfile0
Pwr1_Status
Pwr4_Status
Vel_InVel
10-54
Synchronized motion with cam operation instructions
Master axis: MC_Axis000
Slave axis: MC_Axis002
Corrected Motion with
Combine Axes Instruction
Slave axis: MC_Axis003
Axis 1
MC_Axis000
Servo axis
Data type
_sAXIS_REF
BOOL
BOOL
_sAXIS_REF
BOOL
_sAXIS_REF
BOOL
_sAXIS_REF
BOOL
BOOL
ARRAY[0..109] OF
_sMC_CAM_REF
BOOL
BOOL
BOOL
Setting
Axis 2 Axis 3
MC_Axis001 MC_Axis002
Virtual servo axis Virtual servo axis
Default
--- This is the Axis Variable for axis 0.
FALSE TRUE when home is defined for axis 0.
FALSE TRUE when there is a minor fault level error
for axis 0.
--- This is the Axis Variable for axis 1.
FALSE TRUE when there is a minor fault level error
for axis 1.
--- This is the Axis Variable for axis 2.
FALSE TRUE when there is a minor fault level error
for axis 2.
--- This is the Axis Variable for axis 3.
FALSE TRUE when home is defined for axis 3.
FALSE TRUE when there is a minor fault level error
for axis 3.
---
This is the cam data variable.
FALSE 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.
FALSE This variable is assigned to the Status output
variable from the PWR4 instance of the
MC_Power instruction. It is TRUE when the
Servo is ON.
FALSE TRUE when the target velocity for
MC_MoveVelocity for axis 0 is reached.
NJ-series CPU Unit Motion Control User's Manual (W507)
Axis 4
MC_Axis003
Servo axis
Comment
*1