Cam Profile Configuration
(Original Document)
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Introduction
A cam profile (channels 25 to 31) can be used to define the position of a slave axis according to the position of the master axis using a table of points. In order to use the interpolation functions of the TSX CSY 85 module, you must define a cam profile based on a real axis on the trajectory and observe the following rules:
NOTE: The number of points in cam profiles for axes in the same group must be identical. If this number is too small, the module will send back error code 5. The total number of points configured for the cams affect the interpolation calculation time (approximately 1 second for every 100 points configured). The maximum number of points for a TSX CSY 85 module is 10000. We therefore recommend the use of a minimum number of points in order to achieve a trajectory with sufficient precision.
Configuration Example
The cam profile configuration screen on the TSX CSY 85 module has 3 zones, which must be configured as described above and can be used to define the table of points for the master and slave.
Table parameters:
Parameters
Description
Linear
When this button is selected, interpolation between 2 consecutive cam profile points is linear. This button operates alternately with the Cubic button.
Cubic
When this button is selected, interpolation between 2 consecutive cam profile points is cubic. This button operates alternately with the Linear button.
No. of points
This field can be used to enter the number of points used to define the cam profile.
Master increment zone parameters:
Parameters
Description
Unit
Used to define the unit, which is used for the master increment. The unit selected can be a sub unit of the unit defined for the axes (for example, cm for the axes and mm for the increment).
Fixed
When this button is selected, the increment between 2 consecutive cam profile points is always the same. This button operates alternately with the Variable button.
Start value
For a fixed increment, this field can be used to enter the start value for the cam profile. This value is entered as a floating point.
Increment
For a fixed increment, this field can be used to define the value of the increment. This value is entered as a floating point.
Variable
When this button is selected, the increment between 2 consecutive cam profile points is variable. The value of the points is defined by a table of constant words %KF, whose length is equal to the number of points.
%KF table address
For a variable increment, this field can be used to enter the start address for the table of points for the master.
NOTE: A cam profile is always looped. It is necessary to ensure that the first and last values in the slave table are equal.
The table will completely describe the modulo and an additional point will be added (modulo + 1) for which the slave value is the same as the first value in the table.
For example, for a modulo of 360°, the values are 0 to 359, and the table is as follows: Table (master, slave): (0, x0); (1, x1); (2, x2); ...; (359, x359); (360, x0)
In the case of a linear movement, and if the last value in the table for the slave is not equal to the first value, additional points are added (for example, the last point will be repeated several times with the slave values gradually approaching the first value in the table).
Slave increment zone parameters:
Parameters
Description
Unit
Used to define the unit, which is used for the slave increment. The unit selected can be a sub unit of the unit defined for the axes (for example, cm for the axes and mm for the increment).
Fixed
When this button is selected, the increment between 2 consecutive cam profile points is always the same. This button operates alternately with the Variable button.
Start value
For a fixed increment, this field can be used to enter the start value for the cam profile. This value is entered as a floating point.
Increment
For a fixed increment, this field can be used to define the value of the increment. This value is entered as a floating point.
Variable
When this button is selected, the increment between 2 consecutive cam profile points is variable. The value of the points is defined by a table of constant words %KF, whose length is equal to the number of points.
%KF table address
For a variable increment, this field can be used to enter the start address of the table of points for the slave.