Omron Sysmac NY-series Instruction & Reference Manual page 686

5 Common Command Instructions
Element No. Phase (Master Axis Phase)
Valid nodes
Invalid nodes
Specify the values of Phase (Master Axis Phase) so that they increase in the order of the array ele-
ment numbers. (The previous value must be less than the current value.)
The following table shows the members of the cam node structure.
Name Meaning
Phase Master Axis
Phase
Distance Slave Axis
Displace-
ment
Curve Curve Shape
ConnectingVe- Connecting
lEnable Velocity Ena-
ble
ConnectingVel Connecting
Velocity
5-24
0 Positive number
... ...
4 Positive number
5 0
6 Any value
... ...
9 Any value
Data type Valid range
REAL
Non-negative number
REAL
Negative number
tive number
_eMC_CA 0: _mcConstantLine
M_CURVE 1: _mcStraightLine
2: _mcParabolic
3: _mcModifiedConstantVel
4: _mcModifiedTrapezoid
5: _mcModifiedSine
6: _mcCycloidal
7: _mcTrapecloid
8: _mcReverseTrapecloid
9: _mcSimpleHarmonic
10: _mcDoubleHarmonic
11: _mcReverseDoubleHar-
monic
12: _mcNC2Curve
13: _mcPolynomic3
14: _mcPolynomic5
BOOL TRUE or FALSE
REAL
Negative number
*1
number
Set the phase of the master axis at the
*1*2
node point.
The unit is command units.
Set the displacement of the slave axis at
*1*2
, posi-
the node point.
*1*2
, or 0
The unit is command units.
Specify the shape of the cam curve to the
node point.
0: Constant
1: Straight line
2: Parabolic
3: Modified constant velocity
4: Modified trapezoid
5: Modified sine
6: Cycloidal
7: Trapecloid
8: Reverse trapecloid
9: Simple harmonic
10: Double harmonic
11: Reverse double harmonic
12: NC2 curve
13: Polynomic 3
14: Polynomic 5
Set to TRUE to enable the specified con-
necting velocity when the specified curve
shape is polynomic 3 or polynomic 5.
Set to FALSE to disable the connecting
velocity.
If the specified curve shape is polynomic
*1
, positive
3 or polynomic 5, you can specify the ve-
, or 0
locity of the connecting section to the next
curve.
Use this setting for smooth connections
between curves.
The unit is command units/s.
NY-series Motion Control Instructions Reference Manual (W561)
Description
*3