Yaskawa FSP Amplifier FlexWorks - Manual (Page 74)

Operating the FSP Amplifier Using FlexWorks
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4.9.13. Programming with Electronic Cam
Programming commands are used to initiate and terminate
movement according to an ECAM profile.
4.9.13.1. ECAM_ENGAGE
Format: ECAM_ENGAGE <Profile_ID> <Mode>
This command is used to initiate motion according to an ECAM
profile. You must specify the profile number according to which the
slave must move, as well as whether the motion should continue
indefinitely (Cyclic mode), or only until the profile has been
completed once (Non Cyclic mode).
Figure 43: Programming an ECAM_ENGAGE Command
4.9.13.2. ECAM_DISENGAGE
Format: ECAM_DISENGAGE
This command is used to terminate ECAM motor motion.
ECAM_DISENGAGE will cause the motion to stop only once the
current profile is completed. To stop the motion immediately, use
the STOP_EX command.
4.9.13.3. ENGAGE_VIRTUAL_AXIS
Format: ENGAGE_VIRTUAL_AXIS <Profile ID> <Direction>
This command is used to start ECAM motion when a time-based
profile is being used. In this case, the FSP Amplifier clock acts as
the master and generates a pulse every 125 μs (8 pulses every
millisecond). In this case, the horizontal axis of the profile is in
terms of clock ticks. You must specify the profile number according
to which the slave must move, as well as whether the profile should
be followed in the positive or negative direction.
Figure 44: Programming an ENGAGE_VIRTUAL_AXIS Command