Omron Sysmac NY-series User Manual

Precautions for Correct Use
• When searching the cam table, an error will occur if the phases are not in ascending order
before the 0 phase is found.
•
You cannot change the maximum number of cam data from the user program.
• Execute this instruction after changing the end point in the cam data or overwriting values in
the cam data.
If the end point index is changed or the phases are not in ascending order, the cam operation
and the operation of the EndOfProfile (End of Cam Cycle) of the MC_CamIn (Start Cam Op-
eration) instruction may not be as expected.
• If the cam table is changed while this instruction is being processed, the update process will
not be performed correctly. Wait for execution of this instruction to be completed before you
change the cam data from the user program.
• Cam data variables are global variables. You can therefore access or change the values of
cam data variables from more than one task. If you change the values of cam data variables
from more than one task, program the changes so that there is no competition in writing the
value from more than one task.
• If you use exclusive control of global variables between tasks for a cam data variable, do not
use the cam data variable for motion control instructions while exclusive control is in effect for
the cam data variable. An Incorrect Cam Table Specification error (error code: 5439 hex) will
occur.
Instruction Details
For example, refer to the following cam table. The EndPointIndex is 999 and the MaxDataNumber
(Maximum Number of Cam Data) is 5,000.
Phase
Displacement
Maximum number
of data: 5,000
Invalid data
End point
Valid data
Start point
Cam data structure array
MyCam1 [0]
MyCam1 [997]
MyCam1 [998]
MyCam1 [999]
MyCam1 [1000]
MyCam1 [4999]
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
359.8
359.9
360.0
0
0
0
2
1
0
0
0
0
The following tables show the relationship between overwriting of the cam data and the
EndPointIndex.
If this instruction is executed with a cam table in which the phases for MyCam1[1000] on are 0,
EndPointIndex will be 999.
If this instruction is executed for a cam table after the phase for MyCam1[997] is changed to 0,
EndPointIndex will be 996.
5 Common Command Instructions
5-4
NY-series Motion Control Instructions Reference Manual (W561)

Omron Sysmac NY-series Specifications

General

Brand	Omron
Model	Sysmac NY-series
Category	Control Unit
Language	English