Master-Slave 06/2005
Danaher
Motion
118 Rev
E
M-SS-005-03l
Step 6: Read Dynamic Information
There are numerous read-only
properties regarding the operation of the cam.
Axis Properties
<axis>.ACTIVECAM
provides the name of the
cam being executed by that axis.
Cam Properties
<cam>.CAMCYCLE
provides the number of cycles
the cam has executed. If the cam
master is moving forward, the
current cam ends at the completion
of the cycle where
CAMCYCLE=CYCLE.
When the cam master is moving
backward, the current cam ends at
the completion of the cycle where
CAMCYCLE=0.
<cam>.CAMINDEX
provides the current index
within the current cam table. For
example, if there are 100 points in
the table and the cam is half
complete, CAMINDEX=50.
<cam>.MASTERDATA
is used with
CAMINDEX
to provide the value of the master
position of the current index within
the cam. For example, if the current
cam table master position range is -
10 to 10 and the position is in the
middle of the range,
CAM1.MASTERDATA
[CAMINDEX]=0.00.
CAM1.MASTERDATA[CAMINDEX]
is not equivalent to the position of
the master signal (
<axis>.PFB
)
because cams are incremental with
respect to starting position.
<cam>.SLAVEDATA
used with
CAMINDEX
to
give the value of the slave position
for the current index of the cam. As
with
CAMVALUE
,
CAM1.SLAVEDATA[CAMINDEX] is
not equivalent to
<axis>.PCMD
because the two may be offset from
each other.
