Yaskawa MotionWorks+ Windows Software - Manual (Page 131)

MotionWorks+™ Programming Tools
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sCamShift_Mode - This is a configuration setting which dictates how the CAM SHIFT
block will behave. If set to “0,” the Duration property of the CAM SHIFT block is time
in mSec. The Shift will complete in the time specified. If set to “1,” the Duration prop-
erty is a relative change in position of the master, in external user units. The shift will
take as long as required for the master to move the relative distance specified. This
mode is recommended when it is critical for the correction to be complete within a
known distance.
sCamUpdate - The bit causes the cam function to redetermine the last master & slave
position in the cam table. The bit will automatically turn itself off after completing this
task, which only takes one high scan. Use this function if the cam table must be changed
on the fly, especially if the last master or slave points are changed. It is necessary
because there are supporting functions that must be updated to keep the cam running
properly i.e scale the master encoder to the actual range of master positions in the table
if necessary, add the slave offset each time the cycle completes.
sExternalMode - A configuration setting that switches between the real and virtual
internal encoder. If set to “0”, the real external encoder will be used for all system vari-
ables concerning the external encoder, i.e. mSpeed_External, mPosition_External,
mPosition_External_Counts. If set to “1,” the virtual encoder will be used and it’s value
will be reflected in all related external system variables. If the external encoder is mov-
ing at the time sExternalMode is changed to virtual, mSpeed_Virtual will take on the
speed of the real encoder so seamless switchover is possible.
sHome_Offset - The Home Offset in MP940 User Units. After the HOME block is
complete, the servo will move this amount and then define the position as zero.
sLimit_Speed_Negative - Defines the maximum allowable negative speed of the servo
for speed or torque modes. If the servo is commanded to go beyond this value, the
actual speed of the servo is limited.
sLimit_Speed_Positive - Defines the maximum allowable positive speed of the servo
for speed or torque modes. If the servo is commanded to go beyond this value, the
actual speed of the servo is limited.
sLimit_Torque - Defines the maximum amount of torque that may be applied to the
servo during operation. This is useful when the force applied to a load must be limited
to avoid damage.