Ecam Profiles - YASKAWA XTRAWARE - V3.0 Manual

Operating the XtraDrive Using XtraWare
♦ Programming an Application:
CAM motion is engaged or disengaged upon external events or logical
conditions.
♦ Running a Program:
The profile table can be adjusted by applying a shift or offset, or by
scaling the master or slave positions.
4.9.4.

ECAM Profiles

A profile defines the relationship between the motion of the master and the
motion of the slave. The profile dictates the required slave position for a
given master position. The graph below illustrates a typical profile.
Figure 33: Example of an ECAM Profile
A profile consists of a number of segments. For example, the profile shown
consists of four segments: the first stretches from Master Position 0 to 100,
the second from 100 to 200 and so on. You need only specify the start and
end points of each segment; XtraWare interpolates between those points
according to shape specified. XtraWare can interpolate along straight lines
and sinusoidal curves. You define the resolution (the distance between
consecutive data points in the profile) with which the curve must be
generated. The profile created should be smooth to ensure smooth motion.
4.9.4.1. Time based Profiles – Virtual Axis
XtraWare also allows you to specify a time based profile, where the
XtraDrive's internal clock generates the master pulses. A pulse is generated
every 125 μs. In this case, the Master Position axis is in fact a time axis.
50 XtraWare User Manual