Yaskawa MotionWorks+ Windows Software - Manual (Page 141)

MotionWorks+™ Block Reference
135
3.2.3 CAM SHIFT
Definition
This block changes the master/slave relationship during camming by the specified
relative amount. This shift is a relative, non-modularized value in user units of the
master. The shift is added internally to the external encoder position. The shift occurs
as a modified sine profile from the current shift to the new shift over the duration
specified. This block will perform the shift using one of two methods: time or relative
change of the master. Configure the operation by setting system variable
sCamShift_Mode.
The system ladder holds the absolute shift in mCamShift. This value is automatically
reset to zero when the external encoder is defined using the DEFINE POSITON block.
The programmer can also choose to reset it by using sCamShift_Clear. This will only
take effect if camming is not engaged. This is useful when it is preferred to set an
absolute shift (i.e. the first one is always absolute.)
Properties
Shift: The relative amount in user units of the master to shift the mas-
ter/slave relationship.
Duration: Duration in milliseconds or relative change of the master to
complete the shift. Note: If sCamShift_Mode=1, the shift will
occur over a relative position change of the master. If the mas-
ter stops during the shift, the shift will pause too. The benefit of
this method is that the correction will be complete when the
machine moves a specific amount, regardless of the machine
speed.
Property Default
Minimum
Value
Maximum
Value
Base Units
Run
Time
Shift 0 -2147483648 2147483647 encoder counts Yes
Duration 0 0 2147483647 mSec /
encoder counts
Yes
Wait for Completion True False True N/A No