EtherCAT Absolute Position Cam Drive with XPM_CAMA

The XEM CPU supports up to 8 different CAM blocks using various CAM profiles.

The examples in this topic can be found in OnlineHelp_ECAT_Example.

XPM_CAMA Details

XPM_CAMA is used for executing a CAM block of a sub-axis with an added master offset position and sub-axis offset position.

  • MST_AXIS should have the same unit configuration as the CAM block.

  • The axis that uses the XPM_CAMA function block is considered the sub-axis.

Element Name Element Type Description
REQ Input Edge detected request to execute the function block.
BASE Input Base number of the motion controller. Set to 0 for XEM CPU.
SLOT Input Slot number of the motion controller. Set to Slot Number of XBF-PN04Bor XBF-PN08B module.
AXIS Input

Axis number to control.

  • XBF-PN08B: 1-8

  • XBF-PN04B: 1-4
MST_AXIS Input

Master axis number.

  • XBF-PN08B: 1-8

  • XBF-PN04B: 1-4

  • Encoder 1: 9
CAM_BLK Input CAM block number to execute. Must be 1~9. 9 allows the execution of a USER CAM Operation.
STRT_DST Input The distance that the CAM will move when executed.
MST_OFFSET Input Set the master’s offset position.
SLV_OFFSET Input Set the sub-axis offset position.
DONE Output Status that function block is done.
STAT Output Current status of the function block. Non-zero numbers will be an error or warning.

XPM_CAMA Control Characteristics

The Chart below shows the interaction of the STRT_DST, MST_OFFSET, and SLV_OFFSET values on the CAM operation.

This example is Scan Program LP617_XPM_CAMA_Example.

  • In this example Axis 4 is the master axis and Axis 1 is the sub-axis.

  • When the Run_Example variable is true, Axis 4 will do an absolute move to position 1750 pulses at 500 pulses/sec and Axis1 will execute an XPM_CAMA function block.

  • Axis 1’s XPM_CAMA is setup to execute CAM block 1.

  • Home Axes before setting Run_Example to true.

  • CAM Block 1 is in XG_PM program OnlineHelp_XGPM_example.xpj

CAM Block 1

XPM_CAMA LD Code

XPM_CAMA LD Trend

 

 

 

 

 

LP617