Rockwell Automation 2098-IPD-020-DN Ultra5000 Series Intelligent Positioning Drives with DeviceNet Reference Manual - Manual (Page 51)

Publication 2098-RM002A-EN-P – October 2001
Programming Reference 4-27
63 Set Camtable
Filename
SHORT_S
TRING
1 byte
length
indicator,
1 byte per
character
The filename (up to 32 characters) describing the
cam motion.
Ultraware generates Cam files when you insert a
cam table under the “Cam” branch in the
workspace. The cam files generated by Ultraware
are always stored in the drives flash file system
under a directory named /Cam.dir. If a cam table
is created in Ultraware with the default name of
Table.cam, and loaded into drive memory, the File
Name will be “/Cam.dir/Table.cam”. User
programs may set the Camtable Filename
attribute to different paths.
64 Set Cam Enable
Command
USINT 1 Causes the cam to begin generating an output
position. A cam table file must be loaded to
enable cam, or an “Invalid State” error occurs.
0 = No Action (default)
1 = Execute Command
65 Set Cam Disable
Command
USINT 1 Causes the cam to stop generating output, but the
Cam Current Position output is held constant at
the current value.
0 = No Action (default)
1 = Execute Command
66 Get Cam State USINT 1 The current state of the cam:
0 = Disabled
1 = Enabled
67 Get Cam Input
Position
DINT 4 cnts The current master position value. This value will
roll over to zero as it passes the Camtable Length
value.
68 Get Cam Input
Velocity
REAL 4 cnts/ sec The current master velocity value.
69 Get Cam Current
Position
DINT 4 cnts The output position of the cam. This position
always corresponds to the output position
defined for the given “Input Position” in the cam
table.
If the cam ends at a non-zero output position, this
value will roll back to zero (where all cams start),
and the Cam Offset status will be incremented by
the difference between the starting and stopping
output positions for the cam table.
The actual position command generated by the
cam is the sum of the Cam Offset and Cam
Current Position.
70 Get Cam Current
Velocity
REAL 4 cnts/ sec The actual velocity command generated by the
cam. This value will be equal to the Cam Input
Velocity multiplied by the instantaneous cam
table velocity, which is the rate of change of the
cam position.
Parameter Object,
Instances ID 1- 340
Parameter
Instance
Access
Rule
Parameter
Name
Data
Type
Data
Size
(Bytes)
Units /
Scale
Description