Rockwell-automation 57C422B 2 Axis Servo Module Manual de usuario descargar pdf (Pagina 96)

5-10

2-Axis Servo Module M/N 57C422B

5.8 Cam Mode

The following example illustrates the software necessary to

use the axis in the cam mode. The example is a time cam. It

illustrates how to calculate cam parameters and the values in

the cam table itself. It also shows how to start cam execution.

8992 !

8993 ! Compute cam parameters

8994 !

8995 ! FDBK_SCALING = encoder counts/engineering units

8996 ! CAM_CYCLE_TIME = time (in seconds) for one complete

cam cycle

8997 ! SPD = maximum speed (in engineering units)

8998 ! MAX_SPD = maximum speed (encoder counts/cam

time interval)

8999 !

9000

IF CAM_CYCLE_TIME <1915*.00125 THEN STEP_TIME=1 \GOTO 9010

9005 STEP_TIME%=CAM_CYCLE_TIME/(1915*.00125)+.999

9010 TOTAL_PTS%=CAM_CYCLE_TIME/(STEP_TIME%*.00125)+.999

9015 IF TOTAL_PTS% > 1915 THEN TOTAL_PTS%= 1915

9020 MAX_SPD=SPD*FDBK_SCALING*STEP_TIME%*.00125

9025 RETURN

9297 !

9298 ! Calculate Cam Profile Points

9299 !

9300 ADDRESS!=VARPTR!(CAM_TABLE%) \!Starting address for cam profile

9310 FOR I%=0 TO TOTAL_PTS%_1

9315 ! DATA_POINT%=change in position for next time interval

9320 IOWRITE(3, DATA_POINT%, ADDRESS!)

9325 ADDRESS!=ADDRESS! +2

9330 NEXT I%

9335 RETURN

9400 !

9497 !

9498 ! Start cam cycle

9499 !

9500 CAM_LOOPBACK%=0 !No loopback point.

9505 CAM_MODE%=9 \!Run continuously, word format

9510 CMD66%=080H \GOSUB 25000 \! Do cam profile

9515 RETURN

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Rockwell-automation 57C422B 2 Axis Servo Module Manual de usuario Pagina 96