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How-to’s
Section 5-1
315
Suppose the motion system consists of two axis,
AXIS(0)
and
AXIS(1)
.
AXIS(0)
is the master axis. It makes a simple forward movement.
AXIS(1)
is
the slave axis. It must follow the master axis in accordance to cosine rule:
where
x
0
is the position of the master
AXIS(0)
, and
x
1
is the position of the
slave
AXIS(1)
. You can link the two axis with the
CAMBOX
command. For
more details, refer to section 4-2-44. Suppose furthermore that the parameter
end_pos
is not constant, but it can change due to different conditions of the
motion system. The part of the program that creates the CAM table is:
'Initial CAM values
VR(end_pos)=15
current_end_pos=VR(end_pos)
FOR i=0 TO 999
TABLE(i, VR(end_pos)*(1-COS(2*PI*i/999))/2)
NEXT i
...
loop:
IF VR(end_pos)<>current_end_pos THEN
'Recalculate the CAM Table
FOR i=0 TO 999
TABLE(i, VR(end_pos)*(1-COS(2*PI*i/999))/2)
NEXT i
current_end_pos=VR(end_pos)
ENDIF
...
GOTO loop
The
VR(end_pos)
value can be changed from some other program or
externally from another controller using FINS messaging. In this case, the
CAM
table must be recalculated.
The creation of the CAM table is complete. The initialization of the desired axis
and system parameters for tracing is:
'Initializations
FOR i=0 TO 1
BASE(i)
ATYPE=40
UNITS=8192
REP_DIST=20
REP_OPTION=1
FE_LIMIT=1
DRIVE_CONTROL=11
SPEED=8
ACCEL=50
DECEL=50
DEFPOS(0)
SERVO=ON
CANCEL
NEXT i
WDOG=ON
BASE(1)
'Scope settings:
Содержание SYSMAC CJ Series
Страница 2: ......
Страница 70: ...Specifications Section 2 4 58...
Страница 84: ...FINS commands Section 3 4 72...
Страница 148: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...
Страница 277: ...Section 265 SECTION 5 Examples This chapter gives 2 categories of examples and tips How to s Practical examples...
Страница 370: ...Section 358...