Omron TJ2-MC64 - PROGRAMMING Programming Manual page 311

Examples and tips
The result is given in the figure. The red graph clearly shows a discontinuity
in the position values that the slave axis must follow. Because the speed is a
derivative of the position, at the point of discontinuity of the position curve
the speed gets a high value. (This value equals infinity in theory, in practice
the value is just very big). This causes the error. The red graph shows where
the root of the problem is. The amplitude of the cosine curve, and therefore
the end_pos parameter, has been changed during the execution of the
CAMBOX command. The solution is simple: A change of the end_pos
parameter during CAMBOX execution must be prevented. To do this, either
modify the programs in Trajexia, or in some other controller (if the parameter
is changed outside of the scope of the application programs, for example by
a FINS message).
Note
The time base of the CAM TABLE points is not the same as the
capture of the other signals. The discontinuity in the CAM (red
graph) coincides in time with the interruption of the movement. To
analyze this, check the position values individually with a spread-
sheet program. To analyze the point values in detail, you can
export the TABLE points to a spreadsheet program for a more
complex analysis.
PROGRAMMING MANUAL
fig. 46
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