Control Techniques UD70, User Manual

Page: 125 / 154

UD70
Issue code: 70nu2
Features 8-27
8.10 Cam function
The cam function provides a means of locking a slave axis to the continuous
movement of a master encoder. The cam profile can be split into sections,
for which the master and slave starting and finishing positions are known.
The cam table is then built up by defining the change in position for each
section, with respect to the section starting position, for both master and
slave encoders. The “reference point” is the position of the slave at the
instant the cam function is enabled. The software uses linear interpolation
to move the cam through each section as the master position changes.
The following sections detail how to construct a cam table, using the
example cam profile below. The velocity profile required to produce the
position profile is also shown below
Slave Velocity
(*1000 lines/sec)
Master
Position
(*1000)
30
20
10
-10
-20
-30
10 20 30 40 50 60 70 80
Slave Position
(*1000 lines)
Master
Position
(*1000)
20
1 2 3 4 5 6
15
10
5
-5
-10
-15
-20
10 20 30 40 50 60 70 80