Precautions for Correct Use
• Set the maximum number of cam data to a value that is equal to or higher than the number of
data in the cam table that will be created by the instruction.
•
Although you can specify a free curve as the curve shape on the Cam Editor of the Sysmac
Studio, you cannot specify a free curve with this instruction.
• This instruction has a considerably longer processing time compared with other instructions.
The processing time is greatly affected by the processing load on the CPU Unit. If the next
instruction is executed taking the completion of this instruction as a trigger, take care with the
timing of execution of the next instruction.
• Even if the same setting items are set for the Cam Editor of the Sysmac Studio and this in-
struction, differences in internal processing may create differences in the values of the cam
data that is created.
• 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.
• If you create the variables that you specify for CamProperty (Cam Properties) and
CamNodes as user-defined variables, set the Retain attributes of the variables not to retain
their initial values. If you change the values of the variables and use them again after chang-
ing the mode to PROGRAM mode or cycling the power supply, set the Retain attributes of the
variables to retain their values.
The Retain attributes of Cam Properties variables and Cam Nodes variables created on the
Sysmac Studio are always set to retain the values of the variables.
• The cam data variables that are created with this instruction are not saved in the non-volatile
memory of the CPU Unit. To save them in non-volatile memory, execute the MC_SaveCamT-
able instruction.
• Do not change the values in the array variable that is specified for CamNodes during execu-
tion of the instruction. The instruction may cause unintended operation.
• If the CamNodes array is large, the instruction execution time increases and the task period
may be exceeded. If the task period is exceeded, a Task Period Exceeded error (error code:
6001 hex) will occur. Adjust the array size or change the task period.
• The creation process for the cam table continues even if the operating mode is changed from
RUN mode to PROGRAM mode during execution of the instruction. If you then change back
to RUN mode and execute the instruction for the same cam table, a Motion Control Instruc-
tion Multi-execution Disabled error (error code: 543C hex) will occur.
5 Common Command Instructions
5-21
NY-series Motion Control Instructions Reference Manual (W561)
MC_GenerateCamTable
5
Function
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