Omron Sysmac NY-series Instruction & Reference Manual page 322

3 Axis Command Instructions
Precautions for Correct Use
• Cam data variables are global variables. You can therefore access or change the values of
cam data variables from more than one task. If you change the values of cam data variables
from more than one task, program the changes so that there is no competition in writing the
value from more than one task.
• If you use exclusive control of global variables between tasks for a cam data variable, do not
use the cam data variable for motion control instructions in a task that does not control the
variable. An Incorrect Cam Table Specification error (error code: 5439 hex) will occur.
Timing Charts
Master axis position
MasterStartDistance
StartPosition
Slave axis position
MC_CamIn
Execute
InCam
InSync
EndOfProfile
Active
MC_CamOut
Execute
Aborting the Instruction
If an axis error occurs for the slave axis during execution of this instruction, CommandAborted
changes to TRUE and Busy (Executing) changes to FALSE.
The axis will decelerate at the rate specified with Deceleration (Deceleration Rate) for this instruction.
Refer to the NY-series Troubleshooting Manual (Cat. No. W564) for information on axis errors.
3-234
Synchronized control
Deceleration stopping
Busy
Done
Busy
Synchronized control
Deceleration stopping
NY-series Motion Control Instructions Reference Manual (W561)