Cam Position Calculation Function; Cam Position Calculation Control Data - Mitsubishi Electric MELSEC iQ-R Series User Manual

5.5

Cam Position Calculation Function

The cam position is calculated by the program with this function. This function can be used to calculate the cam position for
the synchronous control initial position before starting synchronous control.
Example
The following shows the procedure for synchronous position alignment, in a synchronous system where cam axes 2 and 3 are
synchronized with the cam axis position value per cycle of axis 1.
1.
Calculate the cam axis position value per cycle using this function based on the command position value and the cam
reference position of axis 1.
2.
Calculate the cam axis command position value of axis 2 with this function based on the cam axis position value per
cycle that was calculated in 1).
3.
Calculate the cam axis command position value of axis 3 with this function based on the cam axis position value per
cycle that was calculated in 1).
4.
Execute positioning on axis 2 to the cam axis command position value which was calculated in 2), and also on axis 3 to
the cam axis command position value which was calculated in 3).
5.
Start synchronous control on axis 1, 2 and 3 with the command position value restoration mode. Use the cam axis
position value per cycle that was calculated in 1) for the cam axis position value per cycle (Initial setting).

Cam position calculation control data

Setting item Setting details
[Cd.612]
Cam position
calculation request
Fetch cycle: Main cycle
[Cd.613]
Cam position Fetch cycle: At request (Cam position calculation request)
calculation: Cam No.
[Cd.614]
Cam position
calculation: Stroke Fetch cycle: At request (Cam position calculation request)
amount
[Cd.615]
Cam position
calculation: Cam axis Fetch cycle: At request (Cam position calculation request)
length per cycle
[Cd.616]
Cam position
calculation: Cam Fetch cycle: At request (Cam position calculation request)
reference position
[Cd.617]
Cam position
calculation: Cam axis Fetch cycle: At request (Cam position calculation request)
position value per
cycle
[Cd.618]
Cam position
calculation: Cam axis
command position Fetch cycle: At request (Cam position calculation request)
value
*1 With the exception of positioning control, main cycle processing is executed during the next available time. It changes by status of axis
start.
*2 Output axis position units(Page 127 Units for the output axis)
*3 Cam axis cycle units(Page 127 Units for the output axis)
5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION
164
5.5 Cam Position Calculation Function
• Set the cam position calculation request.
• The Simple Motion module resets the value to "0"
automatically after completion of the cam position
calculation.
*1
• Set the cam No. for the cam position calculation.
• Set the cam stroke amount for the cam position
calculation.
• Set the cam axis length per cycle for the cam position
calculation.
• Set the cam reference position for the cam position
calculation.
• Set the cam axis position value per cycle for the cam
position calculation.
• Set the cam axis command position value for the cam
position calculation. (Set when calculating the cam axis
position value per cycle.)
Setting value
■Set in decimal.
1: Cam axis command position value
calculation request
2: Cam axis position value per cycle calculation
request
■Set in decimal.
0 to 256 [RD77MS]
0 to 1024 [RD77GF]
■Set in decimal.
-2147483648 to 2147483647
*2
[Output axis position units ]
■Set in decimal.
1 to 2147483647
*3
[Cam axis cycle units ]
■Set in decimal.
-2147483648 to 2147483647
*2
[Output axis position units ]
■Set in decimal.
0 to (Cam axis length per cycle)
*3
[Cam axis cycle units ]
■Set in decimal.
-2147483648 to 2147483647
*2
[Output axis position units ]
Default Buffer
value memory
address
0 53780
0 53781
0 53782
53783
0 53784
53785
0 53786
53787
0 53788
53789
0 53790
53791