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8-30
Functions
Axis Motion with Cam
Absolute Master Encoder (SSI)
Moving a particular length using a cam in a defined angle range for the
SSI encoder. Processing the cam occurs each time the angle range is
entered, in case this function is not deactivated using the CSY command.
Outside of this range, it is possible to move the axis using normal
positioning commands.
Multiple cams can also be processed within one master rotation. If the
master axis is within the current angle range, the next angle range can be
determined using the CAN command. The cam stroke and type can also
be pre-set in commands.
Velocity and acceleration of the slave axis are defined using the master
velocity, length of movement and angle range.
Commands:
CAN
CLG
CMM
CSY
Program Example for Positioning of Mechanical Hand:
In the 50°-150° range for the master encoder (SSI), a mechanical hand is
to push the material 10mm forward. After reaching 200°, the open hand
moves back again, without using a cam.
Syntax
CMM
1 01 02 3 0
CLG
1 +10.000
CAN
02 50 150
CSY
1 0 0 0 00.00.0
CPJ
V023 < +200 0 W_Endt
W_End
PSA
1 +0 999
CPJ
V023 < 40 0 W_360
W_360
JMP
W_End
ECODRIVE03-FL*-04VRS
Angle range
Movement length
Activating this function with mode = 3
Activating a function
Description
Activate this function
Stroke for cam
Set angle range
Turn function on
Wait until cam complete
Return
Wait until over 360 degrees
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
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