Omron NJ501-1300, User Manual

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9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
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Cam T
ab
le
s
A cam table is declared as an array of cam data structures. The type declaration for the cam data struc-
ture is shown below.
You must create the cam data with the Cam Editor in the Sysmac Studio and then specify the name of
the cam table and the number of cam data (i.e., the size of the array). For example, to make a cam table
called
MyCam1 with 1,000 points use the following declaration.
The following notation is used to specify MyCam1 for a cam operation instruction. In this example, the
master axis is Axis1 and the slave axis is Axis2 .
An error will occur if the specified cam table does not exist in the Controller. You can also specify the
same cam table for more than one axis.
You can switch cam tables by re-executing the cam operation instruction during cam operation. After
switching, cam operation will be performed with the cam table you specified for re-execution of the
instruction. The
EndOfProfile and Index output variables from the MC_CamIn instruction are output
according to the new cam table.
Precautions for Correct Use Precautions for Correct Use
• The cam table you want to switch to must be saved to non-volatile memory before it can be
used.
Data Type of Cam Tables
Switching Cam Tables
TYPE
_sMC_CAM_REF :
STRUCT
END_STRUCT;
END_TYPE
Distance : REAL; (*Displacement*)
Phase : REAL; (*Phase*)
(*Cam data structure*)
VAR
MyCam1 : ARRAY [0..999] OF _sMC_CAM_REF;
END_VAR
(*Cam table*)
MC_CamIn
Master Master
Slave Slave
CamTable CamTable
Axis1 Axis1
Axis2 Axis2
MyCam1 MyCam1
MC_CamIn_Instance
Phase Re-executed
Cam table 2 Cam table 1 Displacement
Slave
(Slave axis)
Master
(Master axis)