370 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 12 Motion Control Applications
Build Up the E-Cam Table - Rotary Shear, Multi-dimensional Control
This macro calculates the data for the E-Cam table according to these parameters
and stores them in the data array specified by ID369 (P5.081)
ECamStartAddress. Parameters listed are relevant to the E-Cam table
calculation. Verify that the parameters are correctly set up prior to execution.
After this macro is executed, if the above parameters have been modified, the E-
Cam table must be recreated and you must execute this macro again. Data in E-
Cam table is changed after executing this macro. Do not execute when E-Cam is
in engaged status. In E-Cam applications, parameters (such as ID371 (P5.083)
and ID372 (P5.084)) that are irrelevant to this macro are not listed here. Set up
the parameters according to the actual application. See
E-Cam on page 333.
After executing this macro, the E-Cam table is not saved to EEPROM
automatically.
Failure code F065h Address specified by ID369 (P5.081) ECamStartAddress is too long and the space of data array is
insufficient.
Failure code F066h Value of ID370 (P5.082) ECamAreaNumber must be set to 7. Otherwise the command cannot be
executed.
Failure code F067h Data calculation error. Decrease the value of ID151 (P1.044) and ID152 (P1.045), but maintain the same
proportions.
Command code 0007h Build up the E-Cam table: rotary shear (multi-dimensional control)
General parameters ID369 (P5.081) = address of table (data array)
ID370 (P5.082) = N (30 - 72) (area number of E-Cam)
ID151 (P1.044) and ID152 (P1.045) = E-Gear ratio (must be set up in advance).
Macro parameters ID381 (P5.093.H16) (high 16-bit) = S
ID381 (P5.093L16) (low 16-bit) = W
• S (curve level) = 1 - 4 levels; W (degree of waiting area) = -1 to +170 degrees
(W = -1 is available in firmware version V1.038 (sub29) or later versions)
ID382 (P5.094) = Y (degree of synchronous area) = 0 - 330 degrees
ID383 (P5.095.H16) (high 16-bit) = A x C
ID383 (P5.095.L16) (low 16-bit) = B
• A (deceleration ratio: numerator), C (cutting count)
B (deceleration ratio: denominator)
ID384 (P5.096) = 1000000 x R x V
• R (cutting ratio) = L (target cutting length) /
ℓ (length of cutter)
Allowable cutting ratio: (0.05…5.0) times
V (speed factor) = target cutting speed / speed of delivered product
V = 1.0: when cutting, the speed of cutter is same as the delivered product
V = 1.1: when cutting, the speed of cutter is 10% faster than the delivered product
V = 0.9: when cutting, the speed of cutter is 10% slower than the delivered product
ID381 (P5.093.L16) < W´, E-Cam table is in error (failure code F07Ah)
ID381 (P5.093.L16) = W´, initial speed is 0 in E-Cam table
ID381 (P5.093.L16) > W´, initial speed > 0 in E-Cam table
• W´ = 180 + 360/N - 360/R + Y/2
Code Description
Failure code F071h When creating the table, E-Cam is in engaged status. To issue this command, E-Cam must disengage first.
Failure code F072h Degree of synchronous area of ID382 (P5.094) exceeds the range: (0…330)
Failure code F073h Curve level of ID381 (P5.093.H16) exceeds the range: (1…4)
Failure code F074h Degree of waiting area of ID381 (P5.093.L16) exceeds the range: (0 …170)
Failure code F075h Value of ID384 (P5.096) exceeds the range: (50000 …5000000)
Failure code F076h Area number of E-Cam of ID370 (P5.082) exceeds the range: (30 …72)
Code Description
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