0
...
4
5
6
...
9
0
...
...
Positive number
Positive number
Any value
Any value
Valid nodes
Invalid nodes
Element No.
Phase (Master Axis Phase)
Specify the values of Phase (Master Axis Phase) so that they increase in the order of the array ele-
ment numbers. (The previous value must be less than the current value.)
The following table shows the members of the cam node structure.
Name Meaning Data type Valid range Description
Phase Master Axis
Phase
REAL
Non-negative number
*1*2
Set the phase of the master axis at the
node point.
The unit is command units.
Distance Slave Axis
Displace-
ment
REAL
Negative number
*1*2
, posi-
tive number
*1*2
, or 0
Set the displacement of the slave axis at
the node point.
The unit is command units.
Curve Curve Shape _eMC_CA
M_CUR
VE
0: _mcConstantLine
1: _mcStraightLine
2: _mcParabolic
3: _mcModifiedConstantVel
4: _mcModifiedTrapezoid
5: _mcModifiedSine
6: _mcCycloidal
7: _mcTrapecloid
8: _mcReverseTrapecloid
9: _mcSimpleHarmonic
10: _mcDoubleHarmonic
11: _mcReverseDoubleHar-
monic
12: _mcNC2Curve
13: _mcPolynomic3
14: _mcPolynomic5
Specify the shape of the cam curve to the
node point.
0: Constant
*3
1: Straight line
2: Parabolic
3: Modified constant velocity
4: Modified trapezoid
5: Modified sine
6: Cycloidal
7: Trapecloid
8: Reverse trapecloid
9: Simple harmonic
10: Double harmonic
11: Reverse double harmonic
12: NC2 curve
13: Polynomic 3
14: Polynomic 5
ConnectingVe-
lEnable
Connecting
V
elocity Ena-
ble
BOOL TRUE or FALSE Set to TRUE to enable the specified con-
necting velocity when the specified curve
shape is polynomic 3 or polynomic 5.
Set to FALSE to disable the connecting
velocity.
ConnectingVel Connecting
V
elocity
REAL
Negative number
*1
, positive
number
*1
, or 0
If the specified curve shape is polynomic
3 or polynomic 5, you can specify the ve-
locity of the connecting section to the next
curve.
Use this setting for smooth connections
between curves.
The unit is command units/s.
5 Common Command Instructions
5-24
NY-series Motion Control Instructions Reference Manual (W561)
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