AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.5.3 CAM.CORRECTDIR
General Information
Type R/W
Description
Specifies the direction of the correction move when a new cam table is activated
(set CAM.ACTIVATE = n) or when speed synchronization is achieved.
Units None
Range 0 to 3
Default
Value
2 (shortest distance)
Data Type Integer
Start Ver-
sion
M_01-06-00-000
Description
CAM.CORRECTDIR takes one of the following values:
l 0 move is done clockwise
l 1 move is done counter-clockwise
l 2 move is done in the direction yielding the shortest move (see
l below)
l 3 no correction move is performed.
Use MOVE.ACC, MOVE.DEC and MOVE.RUNSPEED for the correction move. Even if
CAM.CORRECTDIR specifies a clockwise correction move, it only specifies the direction of
the superimposed move. If the cam generated speed is the opposite direction and larger than
MOVE.RUNSPEED, the slave slows down.
For CAM.CORRECTDIR = 2, the direction of the correction is calculated (based upon Pos-
Modulo) to yield the shortest distance move. For example, if PosModulo = 10000 and the clock-
wise correction move is 8000, a counter-clockwise move of 2000 is performed instead.
Example
In the following example, the correction move is in the direction yielding the shortest move dis-
tance.
....
‘The cam table for Cam #1 needs to have been
‘already declared and created
‘——————————————————————
CAM.CORRECTDIR = 2
CAM.ACTIVATE = 1
....
Related Topics
CAM.ACTIVATE
157 Kollmorgenâ„¢ | March 30, 2012
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