Yaskawa MP2000 - Manual (Page 6)

TECHNICAL NOTE
File: MP2000_IndividualFunctionDocument_RevC 6/168
Doc Number:
EF.MCD.05.101 11/17/2005
<CAM> Function Block Operation Notes
•
IMPORTANT NOTE: If the CamScale value in the RDA (ML56**8) is zero the
slave will not move.
• Slave Offset, Cam Scale, Cam Offset, Mod Engine, and Change Dynamics
function blocks may be useful when using this block.
• ENABLE: Rising edge of the ENABLE input initiates block operation, and several
block input values will be read once. These inputs are: AXIS, MSTRSLAV,
TBLTYPE, TBLADDRS.
This event will also verify & set the accel & decel values
in the servopack to zero, to guarantee tight response. Note that this only means
that the MP controller will control the accel/decel rates as defined in the CAM
Table Profile (and the servopack will not limit the accel/decel).
• ENABLE: If the ENABLE input goes off during operation, the block will stop
operating and the axis will immediately hold on its last commanded position from
the Cam table. Warning: This can cause a rapid deceleration, which may
damage machine mechanisms!
• CAMIN: While ENABLE input is high, Rising edge of CAMIN input initiates
camming operation, and ENGAGPOS input value is read. Slave will then wait to
engage camming until the master reaches the engage position. STATE output
will indicate the camming operation state.
• CAMOUT: While ENABLE input is high, Rising edge of CAMOUT input initiates
cam stop operation, and DISENGAG input value is read. The slave axis will
continue to cam until the disengage (DISENGAG) input position is reached by
the master. Then the slave axis will hold on the position defined by the cam table
referenced by the master disengage position.
• Speed: The maximum speed the slave axis can go is the Max speed, set in the
RDA. If the master commands the slave to go faster then this speed, axis will
travel at the max. speed, and will output and latch the ERROR output. Note that
the slave will continue to cam.
• Master Data: Modulated master data (according to desired machine cycle), must
come from the Mod Engine function block if CAMSCALE, CAMOFFST, or
SLAVEOFF function blocks are used. See MOD_ENG function block.
• Scale: If the Cam Scale (ML56**8) value is 0 the slave will not move because
this is a multiplier to the commanded position (1=0.01% ). See CAMSCALE
function block.
• Master Offset: The Cam Offset from the RDA is used to shift the value of the
master as it’s position relates to the slave. See CAMOFFST function block.
• Slave Offset: The slave offset from the RDA is used to shift the slave as its
position as it relates to the Cam table. See SLAVEOFF function block.