YASKAWA MP2100 Series User Manual page 89

(2) L Drawing
The L parent drawing is a low-speed scan that controls the overall sample program.
Main Program: Low-speed Main Program
P00125 L メインプログラム
##########Electronic Cam Table Data Generation##########
########## 電子ｶﾑﾃｰﾌﾞﾙﾃﾞｰﾀ生成 ##########
0000
SEE
0000
NL-1 Name L06
0001
0001
NL-1
(3) L06 Drawing
The L06 child drawing generates cam pattern data for phase control (electronic cam) operation.
P00126 L06 Main Program: Electronic Cam Table Data Generation
##########Cam Table Data Generation (Leading Data)##########
Cam operation command
MB300008
0000
0000
NL-1
##########Cam Table Generation (following data)##########
Cam displacement calculation
0001
FOR
0002
Variable I
NL-1
Init 00000
Max 00360
Step 00001
Phase (deg.)
0002
STORE
0003
Source I
NL-1
Dest DF00030
Displacement calculation work
0003
COS
0004
Source DF00030
NL-1
Dest DF00032
Cam displacement calculation and table setting
0004
EXPRESSION
0005
J =I*4;
NL-1
ML31002j =DF00030*DL00012/360.
DF00034 =DL00010/2*(1-DF00032)
ML31004j =DF00034;
0005
END_FOR
0006
NL-1
0006
0007
NL-1
低速ﾒｲﾝﾌﾟﾛｸﾞﾗﾑ
Low-speed Main Program
########## 低速ﾒｲﾝﾌﾟﾛｸﾞﾗﾑ ##########
##########Electronic Cam Table Data Generation##########
Cam table (leading data)
EXPRESSION
DL00010 =ML30200;
DL00012 =ML30202;
ML30210 =DL00010;
ML30212 =DL00012;
MW31000 =361;
MW31001 =0;
DF00030 =0;
3.5 Sample Program 4: Phase Control with an Electronic Cam
END
END
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