Omron Sysmac NY-series User Manual

a
2
= 3 - (2 · V
init
+ V
fin
) ·
(d
final
- d
init
)
T
a
3
= (V
init
+ V
fin
) ·
(d
final
- d
init
)
T
- 2
T = CycleTime ·
(P
final
- P
i
nit
)
P
max
pitch: PhasePitch
of element m in CamNodes
CycleTime: CycleTime (Cycle Time) in CamProperty (Cam Properties)
P
max
: Largest value of Phase (Master Axis Phase) in valid nodes of CamNodes
V
init
: Initial velocity of cam profile curve [command units/s]
However, when m = 0,
V
init
= InitV
el (Initial Velocity) in CamProperty (Cam Properties)
When m ≥ 1 and Curve (Curve Shape) of element m-1 in CamNodes is a straight line (_mcStraight-
Line),
V
init
=
(P
final
of element m-1 - P
init
of element m-1)
(d
final
of element m-1 - d
init
of element m-1)
·
CycleTime
P
max
When m ≥ 1 and Curve (Curve Shape) of element m-1 in CamNodes is polynomic 3 or polynomic 5,
• ConnectingV
elEnable (Connecting Velocity Enable) of element m-1 in CamNodes is TRUE
V
init
= ConnectingV
el (Connecting Velocity) of element m-1 in CamNodes
• ConnectingV
elEnable (Connecting Velocity Enable) of element m-1 in CamNodes is FALSE
V
init
= 0
When m ≥ 1 and the Curve Shape is other than the above,
V
init
= 0
V
fin
: Final velocity of cam curve [command units/s]
However
, when ConnectingVelEnable (Connecting Velocity Enable) of element m in CamNodes is
TRUE,
V
fin
= ConnectingV
el (Connecting Velocity) of element m in CamNodes
When ConnectingV
elEnable (Connecting Velocity Enable) of element m in CamNodes is FALSE,
• Curve (Curve Shape) of element m+1 in CamNodes is a straight line (_mcStraightLine)
V
fin
=
·
CycleTime
P
max
(d
final
of element m+1 - d
init
of element m+1)
(P
final
of element m+1 - P
init
of element m+1)
• Curve
(Curve Shape) of element m+1 in CamNodes is not a straight line (_mcStraightLine)
V
fin
= 0
5 Common Command Instructions
5-29
NY-series Motion Control Instructions Reference Manual (W561)
MC_GenerateCamTable
5
Function

Omron Sysmac NY-series Specifications

General

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