Modifying A Profile Using Variables - YASKAWA XTRAWARE - V3.0 Manual

4.9.14.3. ENGAGE_VIRTUAL_AXIS
Format: ENGAGE_VIRTUAL_AXIS <Profile ID> <Direction>
This command is used to start ECAM motion when a time based profile is
being used. In this case, the XtraDrive clock acts as the master and
generates a pulse every 125 μs (8 pulses every millisecond). In this case,
the horizontal axis of the profile is in terms of clock ticks. You must specify
the profile number according to which the slave must move, as well as
whether the profile should be followed in the positive or negative direction.
Figure 44: Programming an ENGAGE_VIRTUAL_AXIS Command

4.9.15. Modifying a Profile using Variables

The XtraDrive includes functionality that allows you to stretch and shift a
profile without having to redefine each segment. Simply by adjusting the
values of variables, you can:
♦ Stretch the profile horizontally by adjusting the Master scale.
♦ Stretch the profile vertically by adjusting the Slave scale.
♦ Shift the profile horizontally.
♦ Offset the profile vertically.
4.9.15.1. Profile Scaling
The Master scale can be adjusted by multiplying it by a fraction A/B. If A/B
is larger than one, the profile will be stretched. If A/B is less than one, the
profile will be contracted.
♦ A, the numerator, is defined by the variable ECAM_Master_scale_num.
♦ B, the denominator, is defined by the variable ECAM_Master_scale_den.
For example, if a scaling factor of 2/3 was applied to the profile shown
below, the Master axis would be contracted by a third.
XtraWare User Manual
Operating the XtraDrive Using XtraWare
63