XGB EtherCAT CAM Data Creation and Using XPM_CAM or XPM_CAMO

XEM CPU supports up to 8 different CAM blocks using various CAM profiles. The CAM blocks are created in XG-PM software. The XPM_CAM and XPM_CAMO function blocks are used to execute any created CAM blocks.

  • A User CAM operation is available and is accessed as CAM block number 9.

  • A maximum of 2048 points can be generated per CAM block. An error will appear if a block will have too many points.

  • A CAM block supports one master axis and one sub-axis.

  • XPM_ECON and XPM_SVON must be executed before any motion.

Function Block Description in XG5000 Function
XPM_CAM CAM run Execute a predefined CAM block with the slave axis according to the movement of the master axis.
XPM_CAMO CAM run with master offset Execute a predefined CAM block with the slave axis after the master axis moved the distance defined as the offset.

XPM_CAM is used for executing a CAM block of a sub-axis. MST_AXIS should have the same unit configuration as the CAM block. The axis that uses the XPM_CAM 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.
SLOT Input Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
AXIS Input Axis number to control. XBF-PN04B:1~4, XBF-PN08B:1~8
MST_AXIS Input Master axis number. XBF-PN04B:1~4, XBF-PN08B:1~8 and must not be the axis executing the XPM_CAM.
CAM_BLK Input CAM block number to execute. XBF-PN04B:1~4, XBF-PN08B:1~8. 9 allows the execution of a USER CAM Operation.
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_CAMO is used for executing a CAM block of a sub-axis with an added master offset position. MST_AXIS should have the same unit configuration as the CAM block. The axis that uses the XPM_CAMO 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.
SLOT Input Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
AXIS Input Axis number to control. XBF-PN04B:1~4, XBF-PN08B:1~8
MST_AXIS Input Master axis number. XBF-PN04B:1~4, XBF-PN08B:1~8 and must not be the axis executing the XPM_CAMO.
CAM_BLK Input CAM block number to execute. XBF-PN04B:1~4, XBF-PN08B:1~8. 9 allows the execution of a USER CAM Operation.
MST_OFFSET Input Set the master’s 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.

The XG-PM software is used to create CAM blocks 1 through 8.

Step Action
1

Open the XG5000 project for the application. Go to Tools menu èPosition Control to open XG-PM software.
2

Open the XG-PM project or Connect to PLC and select ProjectèOpen from PLC.
3

Open the CAM Data file in the workspace.

CAM Block Screen Layout

CAM Profile Screen Layout

Step Action
1

Choose a CAM block number to configure.
2

Configure the CAM block mode settings.

  • Repeat (Two-way mode): Repeat mode executes the CAM repeatedly according to the position of the main axis in 1 rotation. The end position of the sub axis in the CAM must be set to 0.

  • Increase (Feed mode): Execute CAM operation from the starting position of the sub axis to ending position according to the position in 1 rotation of main axis.

  • Point Unit: Set the resolution from starting position of main axis to ending position of main axis on each step data of the CAM block. A smaller point unit lead to more points of CAM data and potentially smoother CAM operation. If the point unit is too small, the CAM data may exceed the max of 2048 data points and the CAM profile won’t be calculated. The ending position of the main axis must be a multiple of the point unit value.
3

Configure Main and Sub axis parameters.

  • Unit: Set the control units of the main and sub axis. Set to the same value in the Unit of the axis basic parameters.

  • Main Axis Unit Settings: pulse, mm, inch, and degree.

  • Sub Axis Unit Settings: pulse, mm, and inch.

  • Travel distance per rotation: Set the transfer distance per 1 revolution of the main axis or sub axis. Used if unit is set to mm or inch. This value is the maximum last position of main or sub axis.

  • Pulses per rotation: Set the number of pulses per rotation of main and sub axes. If the unit is pulse, the value is the maximum last position of the main or sub axis.
4

Enter CAM block data. Make sure block data matches restrictions of CAM block configuration.

  • Main Axis Start Pos: Set the starting position of the main axis in the designated section. The starting position for sections after 1 will be the ending position of the prior section.

  • Main Axis End Pos: Set the ending position of the main axis in the designated section. The ending position of the last section must be set to transfer distance of the main axis.

  • Sub Axis Start Pos: Set the starting position of the sub axis corresponding to the main axis starting position in the designated section. The starting position for sections after 1 will be the ending position of the prior section.

  • Sub Axis End Pos: Set the ending position of the sub axis corresponding to the ending position of the main axis in the designated section. If control method is Repeat (Two-way mode), the ending position of sub axis in the last section must be 0. If control method is Increase(Feed mode), the ending position of sub axis in the last section generally has to be set as much as the transfer distance per 1rotation set on main/sub axis parameter.

  • CAM curve: Set CAM specific curve to create data ranging from starting position of the sub axis to ending position of sub axis in the designated section. The position of sub axis is calculated by characteristic of selected CAM curve, the position of main axis increase by point unit at the same time.
5

Press Setup complete button to calculate the CAM Profile.
6

Save the project. Connect to the CPU and write the project to the CPU.

Note: If connecting XG5000 and XG-PM at the same time, make sure to connect XG5000 first. XG5000 will give error messages if it is connected last.

This example is in scan program LP636_XPM_CAM_Example in OnlineHelp_ECAT_Example. In this example Axis 1 is the master axis and Axis 2 is the sub-axis.

  • When the ‘Run_Example’ variable is true, Axis 1 will do an absolute move to position 1500 pulses at 500 pulses/sec and Axis2 will execute an XPM_CAM function block.

  • Axis 2’s XPM_CAM is setup to execute CAM block 1.

  • Home Axes before setting ‘Run_Example ‘ to true.

  • CAM Block 1 is in XG_PM program LP533_CAMExample_XGPM.xpj

CAM Block 1

XPM_CAM LD Code

XPM_CAM XG-PM Trend Compared to CAM Profile

This example is in scan program LP636_XPM_CAMO_Example in OnlineHelp_ECAT_Example. In this example Axis 1 is the master axis and Axis 2 is the sub-axis.

  • When the ‘Run_Example’ variable is true, Axis 1 will do an absolute move to position 1500 pulses at 500 pulses/sec and Axis2 will execute an XPM_CAMO function block.

  • Axis 2’s XPM_CAMO is setup to execute CAM block 1.

  • Home Axes before setting ‘Run_Example ‘ to true.

  • CAM Block 1 is in XG_PM program LP533_CAMExample_XGPM.xpj

CAM Block 1

XPM_CAMO LD Code

XPM_CAMO XG-PM Trend Compared to CAM Profile

 

 

 

 

 

 

 

 

 

 

 

LP636