Mitsubishi Electric MELSEC iQ-R Series User Manual page 393

[Linear interpolation]
When "0: Linear interpolation" is set for the specifying interpolation method of the cam data format, the data that is defined for
a cam curve per cycle with two or more points is opened in the open area.
Output value Y
0 (Cam reference position)
(X , Y
0
Minimum value per cycle
• Profile ID
It is a unique ID assigned by an open instruction. The ID opened by the MC_CamTableSelect can be used in the control
instruction (MC_CamIn) as the MC_CAM_ID type. ID can be specified with an arbitrary No.
• Resolution/coordinate number
Set the number of divisions for one cam curve. Set the number of data including the 0th point.
• Input/output unit character string
Set a unit of the input/output data with an arbitrary character string. When it is omitted, the unit is not displayed. Also, when
"%" is specified in the output unit character string, the control that the cam stroke amount is 100% is carried out.
When a unit other than "%" is specified, it is not be used in the control. It is used only in monitoring.
• Start point
Set the start point. It should be set within the range of the length per cycle.
• Initial stroke amount
Set the stroke amount for the start point. When the output unit character string is "%", it will be a value corresponding to the
100% of stroke ratio.
• Initial velocity
Set the velocity at the start point.
• Initial acceleration
Set the acceleration at the start point.
• I/O data
Set the I/O data. The input data should be set in ascending order.
• Length per cycle
Set the input amount that is required for one cycle.
• Time per cycle
Set time that is required for one cycle.
• Stroke amount
Set the stroke amount. When the output unit character string is "%", it will be a value corresponding to the 100% of stroke
ratio.
(X , Y )
3 3
(X , Y ) (X
2 2 m
(X , Y )
1 1
)
0
(X
m+1
, Y )
m
(X , Y ) (X , Y
99
98 98
(X , Y )
, Y )
97 97
m+1
(X , Y )
m+2 m+2
Maximum value per cycle
13 OPERATION PROFILE FUNCTION
Input value X
)
99
13.1 Operation Profile Data
13
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