Omron NJ501-1300, User Manual

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9 Motion Control Functions
9-18
NJ-series CPU Unit Motion Control User’s Manual (W507)
• Switching cam tables during cam operation will cause discontinuous velocities. Adjust the tim-
ing for switching the cam table to avoid excessive velocity discontinuity.
Cam data can be loaded and saved from the user program just like any other variables. For example,
you can use
MyCam1[0] . Phase to specify the phase and MyCam1[0] . Distance to specify the displace-
ment in the first array elements of a cam table named MyCam1. Cam data overwritten from the user
program can be saved to the non-volatile memory in the CPU Unit as a cam table by executing the
MC_SaveCamTable instruction.
Precautions for Correct Use Precautions for Correct Use
• Overwritten cam data will be lost if the CPU Unit is turned OFF or the cam data is downloaded
from the Sysmac Studio before the Save Cam Table instruction is executed or if the instruction
fails to save the data for any reason.
• Overwritten cam data will be lost if the CPU Unit is turned OFF before the Save Cam Table
instruction is executed or if the instruction fails to save the data for any reason. Be careful not
to lose the overwritten data when overwriting cam data from the user program in the CPU Unit.
• Cam data saved to non-volatile memory can be loaded by using the upload function of the
Sysmac Studio.
• Use the Synchronization menu command of the Sysmac Studio to upload and download the
project.
For details on arrays, refer to the NJ-series CPU Unit Software User's Manual (Cat. No. W501).
For details on the Save Cam Table instruction, refer to the MC_SaveCamTable instruction in the NJ-
series Motion Control Instructions Reference Manual (Cat. No. W508).
The MC Function Module must identify the cam end point of the cam table. If an overwrite is performed
from the user program during cam operation and the number of valid cam data changes, you must
update the number of valid cam data to the latest value. Use the MC_SetCamTableProperty instruction
for this.
The cam end point is the data located one cam data before the first cam data with a phase of 0 after the
start point in the cam table. All cam data after phase 0 is detected will be invalid.
For example, refer to the following cam table. The EndPointIndex (End Point Index) output variable is
999 and the MaxDataNumber (Maximum Number of Cam Data) output variable is 5,000 from the
MC_SetCamTableProperty instruction.
camLoading/Saving Cam Data and Saving Cam Tables
Updating Cam Table Properties