Cam Profile Parameter: Coord
(Original Document)
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Description
This function is used to modify the co-ordinates of an existing cam profile point.
The point index starts at zero. Therefore, to modify the first entry in a cam profile, use an index value of 0.
Cam profiles are specified as a table of co-ordinate position points. These co-ordinates are accessed using the PosCoord data structure. Each point has a position value for both co-ordinate axes of the profile. This means a cam profile has two values per point: one for the master position and one for the slave position.
The master positions must be in increasing order from the first element in the cam profile until the last. For example, the master positions cannot go from 360 degrees to 0 degrees because these master positions are not increasing.
The increments between master position values can be variables. A fixed increment is not required. For example, the following are acceptable master position values: 0, 1, 2, 100, 300, 360. Any valid position units can be used.
CAUTION
UNEXPECTED EQUIPMENT BEHAVIOR
Do not modify a profile, do not call the functions Configure, SetCoord, or SetInterpType while following is on in a Follower Group which uses the CamProfile.
Failure to follow these instructions can result in injury or equipment damage.
NOTE: In some special situations, the SetCoord function may be called to change the profile while following is on. However, you must only change profile points that are separated by two profile point entries from the nearest profile points that are being used by the slave axis. Failure to ensure this restriction will cause undesired slave movement.
Associated Functions
The associated functions of this parameter are:
These functions use the WRITE_CMD instruction.
Language objects
The table below introduces the different functions.
Object
Name
Function code
Instruction type
Description
%MWr.m.c.26
ACTION_CMD
532
WRITE_CMD
Read command
533
Write command
%MFr.m.c.22
RETURN_CMD_2
-
-
Result of the read: Master position point from the cam profile table.
%MFr.m.c.24
RETURN_CMD_3
-
-
Result of the read: Slave position point from the cam profile table.
%MDr.m.c.27
PARAM_CMD_1
-
-
Value to write: Required point index.
%MFr.m.c.31
PARAM_CMD_3
Value to write: Master position
%MFr.m.c.33
PARAM_CMD_4
Value to write: Slave position
%MWr.m.c.19
ERROR_CMD
-
-
Error report. See (WRITE_CMD Command: Programming Errors)