Omron Sysmac NY-series


Displacement Calculation Method for Polynomic 5
The element number in the array variable specified for CamNodes is “m.”
When polynomic 5 is specified for Curve (Curve Shape) of element m, Phase of element m-1 is set as
the initial value P
init
of the master axis phase. In the same way
, Distance is set to the initial value d
init
of the slave axis displacement. When m = 0, calculations are performed with P
init
and d
init
set to 0.
Also, Phase of element m is set to the final value P
final
of the master axis phase. In the same way,
Distance for element m is set to the final value d
final
of the slave axis displacement.
d(n) is calculated as shown below when d(n) is Distance (Slave Axis Displacement) of the nth cam
data from d
init
.
When 0 ≤ n < N,
d(n) = d
init
+ (d
final
- d
init
) ·
Ʃ
i = f
a
i
·
5
(
(P
final
- P
init
)
pitch
· n
)
i
When n = N,
d(n) = d
final
However, when (P
final
- P
phase
) / pitch is an integer
,
N =
pitch
P
final
- P
phase
When (P
final
- P
phase
) / pitch is not an integer,
N = floor
pitch
P
final
- P
phase
(
)
+ 1
a
1
=
(d
final
- d
init
)
V
init
· T
a
2
=
2 · (d
final
- d
init
)
A
init
· T
2
a
3
=
2
(3A
init
- A
fin
) ·
(d
final
- d
init
)
T
2
+ (8V
fin
+ 12V
init
) ·
(d
final
- d
init
)
T
- 20
- ( )
a
4
=
(1.5A
init
- A
fin
) ·
(d
final
- d
init
)
T
2
+ (7V
fin
+ 8V
init
) ·
(d
final
- d
init
)
T
- 15
( )
a
5
=
2
(A
init
- A
fin
) ·
(d
final
- d
init
)
T
2
+ (6V
fin
+ 6V
init
) ·
(d
final
- d
init
)
T
- 12
- ( )
5 Common Command Instructions
5-30
NY-series Motion Control Instructions Reference Manual (W561)