Omron NJ501-1300, User Manual

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9-15
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
9-2 Sing
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9-2-5
Cam T
ab
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The MC Function Module defines a single element of data consisting of the phase of the master axis
and the displacement of the slave axis as one cam data. A cam table is defined as the combination of
multiple sets of cam data. The cam table is created with the Cam Editor in the Sysmac Studio. You can
modify cam data in the cam table from the user program.
The phases and displacements in the cam data that makes up the cam table are represented as rela-
tive distances from the start point 0.0. During cam operation, the command position sent to the slave
axis is the displacement determined by interpolating linearly between the two cam data elements adja-
cent to the phase of the master axis. The more cam data there is in the cam table, the more accurate
the trajectory and the smoother the cam profile curve will be.
cam table start position The absolute position of the master axis that corresponds to the cam start point
(phase = 0).
master sync start posi-
tion The master start distance where the slave axis starts cam operation represented as
either an absolute position or relative position. The relative position is based on the
cam start point position.
start mode A specification of whether to represent the master sync start position as an absolute
position or relative position.
null cam data Cam data that can be set after the end point where the phase and displacement are 0.
connecting velocity The connecting velocity that is used to connect cam profile curves. The connecting
velocity cannot be specified for some curves.
connecting acceleration The acceleration rate that is used to connect cam profile curves. The connecting
acceleration cannot be specified for some curves.
phase pitch The width when dividing the cam profile curve by phases (horizontal axis). The points
after dividing the curve into the phase pitch correspond to the cam data in the cam
table. You must specify the phase pitch for each cam block.
Cam Tables
Term Description
End phase for block 2 End phase for block 1
Block 1 Block 2
Displacement
Phase
Cam start point
(block start point)
Cam end point
(block start point)
End point for block 1
Start point for block 2
End point
displacement
for block 2
End point displacement
for block 1