Rockwell-automation 2098-UWCPRG Ultraware Software User Manual Manual de usuario descargar pdf (Pagina 151)

Rockwell Automation Publication 2098-UM001G-EN-P - February 2011 153

Configuring the Ultra5000 Drive Chapter 4

The following direct commands can be executed for a Cam branch of an online

drive.

Customize the Cam window for your Ultra5000 Drive by selecting one or more

of these commands:

• Click Show Status to display or hide the Status pane.

• Click Show Commands to display or hide the Commands pane.

• Click Setup to open the Monitor Setup window, where you can customize

the status display for this window.

• Click Revert to return parameter settings to the values they held when you

opened this window.

Order

Each of the segments of an Ultra5000 cam table is defined by a

polynomial equation, such as:

Output position = A + B*(Input Position) + C*(Input Position)^2

+…

The cam table Order is the highest order term in the right side of

this equation. All of the segments in a cam table must have the

same order. Cam files are generated as first order equations

when the cam table is a linear type, and 5th order equations

when the cam table is a polynomial type. A 5th order polynomial

provides sufficient degrees-of-freedom to constrain the

positions, velocities, and accelerations at the ends of each

segment.

Length The maximum value of Input Position in the cam table.

Offset The ending output position defined in the cam table.

Command Description

Unload Table Unloads the cam file from memory. This command can be used

to free drive resources, if necessary.

Enable Cam Causes the cam to begin generating an output position.

Note: A cam table file must be loaded to enable cam, or an

Invalid State error occurs.

Disable Cam Causes the cam to stop generating output, but the Current

Position output is held constant at the current value.

Status Description

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Rockwell-automation 2098-UWCPRG Ultraware Software User Manual Manual de usuario Pagina 151