Yaskawa MotionWorks+ Windows Software - Manual (Page 209)

MotionWorks+™ Appendix C MW+ Camming 101
203
Cam Tool has some advanced features that allow the user to determine the servo’s ability
to follow the profile at given master speeds. The “Set Style” window allows the user to
enter details about the inertia of the motor, load, and machine cycle time. Graphs indicate
by color if the servo is capable of supplying enough torque to perform the move.
3. Resolution Considerations
It is usually impossible to include a data pair for every possible position of the master, and
sometimes it is not necessary to enter every position. Slave position resolution is a direct
result of the value output from the cam look-up table. The controller uses a function that
provides straight-line linear interpolation to find the slave position.
Look at the following example:
A little background about cam tool; master units are “what you enter is what you get.” No
conversion takes place when the CDD file is written. However, Cam Tool always gener-
ates slave data in pulses. MW+ is designed such that the slave data MUST be in pulses.
In Cam Tool, either program the slave in pulses, or determine the number of pulses per
unit travel of the slave. Unfortunately, MW+ and Cam Tool are not able to share informa-
tion about the system properties.
A breakdown of the equivalence is shown on the next page.
Master at 60
Halfway between 20
an 100