Yaskawa MotionWorks+ Windows Software - Manual (Page 211)

MotionWorks+™ Appendix C MW+ Camming 101
205
“Max phase value” is the same as the External Encoder Machine Cycle, in pulses. Use the
Position formulas in the MW+ manual to determine the number of pulse in the machine
cycle. 554 * 8192 / 199.4911 * 5 = 113463.
“Max Position Value” is the same as the MP940 Machine Cycle. “Ball screw lead” is
equivalent to MP940 FeedConstant.
Although it is possible to program the master in user units, or magnified user units, such as
36000 = 360 degrees, the best resolution usually results from programming the master in
pulses. The exception to this would be if the number of pulses in the master cycle is less
than the number of magnified user units.
For example, if the master cycle were 32768 pulses, resolution would be just as sufficient
at 36000 = 360 degrees. Resolution would suffer however, if the cam table were pro-
grammed in 360 = 360 degrees. The reason for this is that all cam data is stored as long
registers. This means no fractions. It also means that there are only 360 possible points
in the table. THE CONTROLLER WILL NOT PERFORM THE ABOVE CALCULATION
TO DETERMINE FRACTIONAL DEGREES. Note that 32768 / 360 = 91 pulses. This is
the distance the master will travel and still generate the same data point for the slave. The
effect is a stair stepping motion.