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AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l
data point (i.e. cam point coordinate positions). lrSlaveVel writes the slave axis velocity corresponding to the cam
data point and lrSlaveAcc writes the slave axis acceleration corresponding to the cam data point.
The data point information accessed in the cam table corresponds to different data according to different cam Data
Types. When DMC_CamWritePoint writes data, the cam operation will not be affected even if parameters are input
to the inputs of the instruction if no specific data (e.g. lrSlaveVel and lrSlaveAcc) is accessed in the cam table.
When DMC_CamWritePoint modifies the cam table data in the synchronized cam motion, the slave axis in
synchronization will change its path immediately, which may cause a jolt of the mechanism.
When the starting or ending cam data points are modified and the master axis position written by lrMasterPos
exceeds the range of the original cam table, the running cam will have no change. And the cam table with the
modified boundary range cannot work until the MC_Camtableselect is restarted.
Troubleshooting
When an error occurs during the execution of the instruction or the axis enters Errorstop state, bError will change to
True and the axis stops running. Refer to ErrorID (Error Code) to address the problem.
Programming Example
1.
Build a cam table: "Cam".
2.
Input Cam for the specified CamTable and 2 for CamPointNum, the number of the cam point to be written.
3.
Input 300 for MasterPos, 250 for SlavePos, 2 for SlaveVel, 4 for SlaveAcc in the selected cam point data.
4.
Set DMC_CamWritePoint_0.bExecute to True.
5.
The data writing is completed when DMC_CamWritePoint_0.bDone changes from False to True.
Ch a p t er 2
3 3 6
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