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6 Motion Control Programming
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
6-7 Cam Tables and Cam Data Variables
6
• You can upload the cam definition variable that were created in the Cam Data Settings of the Sys-
mac Studio even after the variable is changed in the user program. If the cam definition variable
was created as a user-defined variable, you cannot upload it after it is changed in the user pro-
gram.
• Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504-E1-10 or later) for infor-
mation on creating and transferring the cam definition variable in the Sysmac Studio.
• For details on the MC_GenerateCamTable (Generate Cam Table) instruction and MC_Save-
CamTable instruction, refer to the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).
• You can upload and download cam tables regardless of the operating mode of the CPU Unit
mode or the status of the MC Function Module. You cannot upload cam data, download cam data,
start online operation, perform online editing, or start data traces during a cam table save opera-
tion. The MC_SaveCamTable instruction is not executed during online editing.
• All axes in motion will decelerate at the maximum deceleration rate when you start the download
process.
Precautions for Correct UsePrecautions for Correct Use
• If you change any cam data in the user program, those changes are lost and the cam table in
non-volatile memory is restored if you restart the power or download cam data from the Sys-
mac Studio. Also, you cannot upload the data in the main memory from the Sysmac Studio.
If a CPU Unit with unit version 1.13 or later and Sysmac Studio version 1.17 or higher are com-
bined, commands to the I/O devices can continuously be sent even when the download process
is in progress.
For the CPU Unit with unit version 1.12 or earlier, sending commands to the I/O devices is
stopped when the download process is executed.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for how to set to
stop or continue sending commands to the I/O devices when the download process starts.
Stopping sending commands to I/O devices
Servo is turned OFF during the download, and the axis status will be Disable (Axis Dis-
abled).
Continuing sending commands to I/O devices
The MC_Power (Power Servo) and MC_SetTorqueLimit instructions can run even when the
download process is in progress.
The following status immediately before downloading is maintained during the download:
the Servo ON state for the MC_Power instruction and the output torque limit for the MC_-
SetTorqueLimit instruction.
The Servo ON state and torque limit are maintained even if the MC_Power and MC_Set-
TorqueLimit instructions are deleted from the user program after the program is updated by
downloading.
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