Master-Slave 06/2005
Danaher
Motion
This next example shows the previous example, but with the starting after
the incremental move is complete (
STARTTYPE
= GCOM):
Jog A1 100 TimeJog=5000
Sleep 2000
A1.StartType=GCOM
Jog A1 200
The resulting profile for this is:
5. 3
C
AMMING
Camming is an extension of gearing. It can be thought of as gearing where
the gear ratio varies according to the master position. The master position,
optionally runs through a gear ratio and drives the input to a cam table. The
cam table is a list of point pairs which map the master position to the slave
position. The output of the cam table provides the slave axis position.
The operation of camming looks like:
5.3.1. Key
Features
The MC's camming features are:
Camming supports motion in both directions
. The master runs
indefinitely in either positive or negative direction without accumulation
of error.
Cam tables are driven
by an axis position command, an axis position
feedback, or an encoder brought in through the SERVO
STAR
's
external encoder input. It is driven by either physical or simulated axes.
Cam tables are two-dimensional
. The points may be irregularly
spaced. Linear interpolation is used between points.
108 Rev
E
M-SS-005-03l
