Mitsubishi Electric MELSEC iQ-R Series User Manual page 440

Monitor data during cam operation
The position relationship of cam data can be checked by the data of MC_CamIn.InputsPerCycle, MC_CamIn.Reference, and
MC_CamIn.OutputData.
■MC_CamIn.InputsPerCycle (Cam current value per cycle)
Movement amount of Master is reflected as Cam data start point 0 of MasterSyncPosition. The monitor value range is the cam
length per cycle range ("0 to (cam length per cycle - 1)") set in the cam data.
■MC_CamIn.Reference (Cam reference value)
When MC_CamIn is started to operate, cam reference value is calculated by the cam position for start (cam current value per
cycle) based on set position where InSync becomes TRUE. The cam reference position is not updated in two-way cam
operation. In a feed cam, the cam reference value is calculated as shown below.
Cam reference value = Original cam reference value + (Output value at the last point - Output value at the 1st point)
Cam current value per cycle
Set position
■MC_CamIn.OutputData (Output value)
While InSync is TRUE, MC_CamIn.Output is calculated as shown below.
Output value = Cam reference position + (Cam stroke amount × Stroke ratio corresponding to cam current value per cycle)
or
Output value = Cam reference position + (Output value corresponding to cam current value per cycle)
When the cam current value per cycle is in the middle of the cam data, the middle value is calculated from the nearest cam
data.
Cam current value per cycle
Cam data
14 SYNCHRONOUS CONTROL
438
14.7 Cam Operation
Cam reference
Cam reference
position
position
(At 2nd cycle)
(At 1st cycle)
Calculate the middle value
from the nearest cam data.
1 resolution or between 2 coordinates
t
Cam reference
position
(At 3rd cycle)
t