Yaskawa MotionWorks IEC Toolboxes - Manual (Page 24)

Cam Toolbox: Revision History
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 11
3) Moved window logic into the main Enable section of SlaveRegistrationCheck to allow on the fly updates.
(******************************* 2010-07-02 v004beta created
************************************)
Moved on to v004, beta003 never released.
1) Added logic to SlaveRegistrationCheck to add one CamCycle if the LatchTableReference is negative.
(******************************* 2010-03-15 v003beta created
************************************)
1) Fixed mistake in case statement to allow Simple Harmonic as one of the Valid Curve Types. Was 4, should be
3.
2) Changed Max CamSegmentArray size to 200 from 20.
3) Changed CamSlave_FeedToLength to use Stair Step method of latch lookup in cam table. Original method
used an
interpolated latch algorithm.
4) Removed Y_EngageMethod#Linked as a StartMode inside CamBlend.
5) Changed the second and third Y_CamIn functions inside CamBlend to use StartMode = Absolute to eliminate
drifting
caused by switching tables while master in motion.
6) Added NOT(Error) contact to prevent the CamSlave_FeedToLength function from running if there was an
error.
7) Added PathGenerator and MovePath for creating XY paths with straight line and circular interpolation.
8) Added CamSlavePullToLength and supporting function CS_PTL_ScaleCalc.
(******************************** 2010-03-12 v002 released
**************************************)
1) Changed CamGenerator straight line segment to include option for calculating points at spec'ed resolution.
2) Initial version would ignore resolution and just use beginning and end points for straight line.
3) Improved CamGenerator. It was recalculating the entire profile over and over each scan while execute was
held high.