Omron NJ501-1300, Руководство пользователя

Страница: 198 / 432

9 Motion Control Functions
9-16
NJ-series CPU Unit Motion Control User’s Manual (W507)
Precautions for Correct Use Precautions for Correct Use
• Make sure that the cam data is arranged in the cam table so that the phases are in ascending
order. An instruction error occurs if a cam operation instruction is executed when the phases
are not in ascending order.
• Cam data variables are global variables. You can therefore access or change the values of
cam data variables from more than one task. If you change the values of cam data variables
from more than one task, program the changes so that there is no competition in writing the
value from more than one task.
• If you use exclusive control of global variables between tasks for a cam data variable, do not
use the cam data variable for motion control instructions in a task that does not control the
variable. An Incorrect Cam Table Specification error (error code: 5439 hex) will occur.
*1 If 65,535 points are used for each cam table, there will be a maximum of 16 cams. A resolution of 0.1
°
allows
for a maximum of 3,600 points per cam table for a maximum of 291 cams.
*2 The total size is 10 MB max.
*3 Use the Synchronization menu command of the Sysmac Studio to upload and download the project.
Cam Table Specifications
Item Description
Maximum number of cam data per
cam table 65,535 points
Maximum size of all cam data
1,048,560 points
*1
Maximum number of cam tables
640 tables
*2
Switching cam operation You can switch to a different cam operation by executing a motion control
instruction
Overwriting cam data Cam data can be overwritten from the user program
Saving cam data Cam data can be saved to non-volatile memory by using the Save Cam
Table instruction.
Information attached to the cam data Information can be downloaded or uploaded for display in the Cam Edi-
tor
*3
Timing to load cam data to main
memory • When the data is downloaded from the Sysmac Studio
• When power is turned ON
Phase
Displacement
Cam data (black dots on the line).
Phase
Command position during
cam operation
1 cycle
Displacement
Cam end point
Cam start point
Cam data
Cam table
0 60 120 180 240 300 360
0
50
100
150
200
250
300
350
0 0
60 200
120 100
180 300
240 100
300 200
360 0
0
1
2
3
4
5
6
Cam data index
The phase is calculated from the master
axis position each cycle. The linear
interpolation of cam data is used to
calculate the displacement from the phase.
(These are the red dots on the line.)