Omron Sysmac NY-series User Manual

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
A
init
: Initial acceleration of cam profile curve [command units/s
2]
However, when m = 0,
A
init
= InitAcc (Initial Acceleration) in CamProperty (Cam Properties)
When m ≥ 1 and Curve (Curve Shape) of element m-1 in CamNodes is polynomic 5,
• ConnectingV
elEnable (Connecting Velocity Enable) of element m-1 in CamNodes is TRUE
A
init
= ConnectingAcc (Connecting Acceleration) of element m-1 in CamNodes
• ConnectingV
elEnable (Connecting Velocity Enable) of element m-1 in CamNodes is FALSE
A
init
= 0
When m ≥ 1 and Curve (Curve Shape) of element m-1 in CamNodes is not polynomic 5,
A
init
= 0
A
fin
: Final acceleration of cam curve [command units/s
2
]
However
, when ConnectingAccEnable (Connecting Acceleration Enable) of element m in CamNodes
is TRUE,
A
fin
= ConnectingAcc (Connecting Acceleration) of element m in CamNodes
When ConnectingAccEnable (Connecting Acceleration Enable) of element m in CamNodes is F
ALSE,
A
fin
= 0
Refer to Displacement Calculation Method for Polynomic 3 on page
5-28 for information on V
init
(initial
velocity of cam profile curve [command units/s]) and V
fin
(final velocity of cam curve [command units/
s]).
Timing Charts
Busy (Executing) changes to TRUE at the same time as Execute changes to TRUE. _MC_COM.Sta-
tus.GenerateCamBusy (Cam T
able Creation Busy) changes to TRUE in the next period.
5 Common Command Instructions
5-31
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