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Chapter 6 Programming Motion • 82 USER MANUAL
EQ x,y,z,w
where x,y,z,w are the master positions at which the corresponding slave axes are disengaged.
Master X4000
2250
2000 6000
3000
1500
0
Figure 6.4: Electronic Cam Example
This disengages the slave axis at a specified master position. If the parameter is outside the master
cycle, the stopping is instantaneous.
To illustrate the complete process, consider the cam relationship described by
the equation:
Y = 0.5
*
X + 100 sin (0.18
*
X)
where X is the master, with a cycle of 2000 counts.
The cam table can be constructed manually, point by point, or automatically by a program. The
following program includes the set-up.
The instruction EAX defines X as the master axis. The cycle of the master is
2000. Over that cycle, X varies by 1000. This leads to the instruction EM 2000,1000.
Suppose we want to define a table with 100 segments. This implies increments of 20 counts each. If
the master points are to start at zero, the required instruction is EP 20,0.