Syntax
MODE CS |
Set axis in MODE Camming Slave |
| Operands | – |
Binary code
| Description | Sets the drive/motor to operate in the electronic camming slave mode. In this mode, the drive/motor performs a position control with reference set by a cam profile function of the master position. The cam profile is defined by a cam table – a set of (X, Y) points, where X is cam table input i.e. the master position and Y is the cam table output i.e. the corresponding slave position. Between the points the drive/motor performs a linear interpolation. |
The new motion mode becomes effective at the next update command UPD.
Example
// Electronic camming slave. Master position is read from 2nd
// encoder inputs. Master resolution: 2000 counts/rev
CAMSTART = 0xF000; //Initialize CAM table start address
EXTREF 2; // master position read from P&D or 2nd encoder
CAMOFF = 200; //Cam offset from master
CAMX = 0.5; //Cam input correction factor
CAMY = 1.5; //Cam output correction factor
MASTERRES = 2000; // master resolution
MODE CS; //Set electronic camming slave mode
TUM1; //Set Target Update Mode 1
SRB ACR, 0xEFFF, 0x0000; //Camming mode: Relative
UPD; //execute immediate