Omron Sysmac NY-series Instruction & Reference Manual page 690

5 Common Command Instructions
The number of the last element in the cam data variable that was written is output to the
EndPointIndex output variable of the instruction as the end point index. In this example, 3600 would
be output.
This completes execution of the instruction.
 Cam Table Displacement Overflow
A Cam Table Displacement Overflow error (error code: 5742 hex) will occur if the value of Distance
(Slave Axis Displacement) in the cam data calculated by the instruction exceeds the valid range of
REAL data. The value of the relevant Distance (Slave Axis Displacement) will not change, and creat-
ing the cam table will be aborted.
A Cam Table Displacement Overflow error can occur only when Curve (Curve Shape) is set to poly-
nomic 3 or polynomic 5. If this error occurs, refer to the following calculation methods for displace-
ments for polynomic 3 or polynomic 5 and correct the values in the CamProperty (Cam Properties)
and CamNodes in-out variables.
 Displacement Calculation Method for Polynomic 3
The element number in the array variable specified for CamNodes is "m."
When polynomic 3 is specified for Curve (Curve Shape) of element m, Phase of element m-1 is set as
the initial value P
of the slave axis displacement. When m = 0, calculations are performed with P
Also, Phase of element m is set to the final value P
Distance for element m is set to the final value d
d(n) is calculated as shown below when d(n) is Distance (Slave Axis Displacement) of the nth cam
data from d .
init
When 0 ≤ n < N,
d(n) = d + (d
init final
When n = N,
d(n) = d
final
However, when (P
P - P
final phase
N =
pitch
When (P - P
final
P
final
(
N = floor
pitch
V · T
init
a =
1
(d - d
final init
5-28
of the master axis phase. In the same way, Distance is set to the initial value d
init
3 pitch
(
Ʃ
- d ) · a ·
init i
(P - P )
i = f final init
- P ) / pitch is an integer,
final phase
) / pitch is not an integer,
phase
- P
phase
)
+ 1
)
of the master axis phase. In the same way,
final
of the slave axis displacement.
final
i
)
· n
NY-series Motion Control Instructions Reference Manual (W561)
init
and d set to 0.
init init