AX-Series Motion Controller Instructions Manual Chapter 2
364
Timing for changing to TRUE
Timing for changing to FALSE
bDone
When the instruction is completed.
When bExecute turns to False.
bDone will change to False after remaining
True for one period when bExecute is False
but bDone changes to True.
bBusy
When bExecute turns to True.
When bDone turns to True.
When bError turns to True.
bError
When an error occurs in the execution
conditions or input values for the
instruction.
When bExecute turns from True to False.
(Error code is cleared.)
ErrorID
Timing Diagram
Inputs/Outputs
CamTable
Specify a cam
table.
MC_CAM_REF
*
MC_CAM_REF When bExecute turns to True.
*Note: MC_CAM_REF (FB): The basic CAM.
Function
This function block may take a long time to perform the calculation of curves and cam points. Therefore, it is suggested
that this function block should be used in a non-EtherCAT Task in order to avoid the issue of Lost Sync in EtherCAT
Task when DMC_CamKeyPointWrite is run.
CamCurveType
Line (0)
Used in the situation where the velocity-constant motion is maintained.
There will be a large force on the start point and end point of a straight line (the
accelerations for the start
point and end point of the line segment approaches infinity),
which is very obvious in the high speed operation. So the curve type is suitable for use in
low-speed operation.
Quadratic_Parabola (1)
Used in the situation where the acceleration must maintain a constant-velocity motion.
This type of curve (with non-zero acceleration rates at the start point and end point of
the line segment) is more likely to cause shock as well as vibration. So the curve type is
suitable for use in lower speed operation.
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