Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 150)

152 Rockwell Automation Publication 2098-UM001G-EN-P - February 2011
Chapter 4 Configuring the Ultra5000 Drive
Input Velocity The current master velocity value, in counts per second squared.
Current Position The output position of the cam, in counts. 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 rolls
back to zero (where all cams start), and the Offset cam status is
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 Offset and Current Position.
Current Velocity The actual velocity command generated by the cam, in counts
per second.
This value is equal to the Input Velocity multiplied by the
instantaneous cam table velocity. This is the rate of change of
the cam position, in counts per count.
Current Acceleration The actual acceleration command generated by the cam, in
counts per second squared. This value is equal to the
instantaneous cam table acceleration. This is the rate of change
of the cam velocity, in counts per count per count, times the
Input Velocity squared.
Index The segment of the cam table used to calculate the cam output.
This is determined by the Input Position. The index is zero based.
Offset The value, in counts, necessary to adjust the cam between its
final output position and the output position for the beginning of
the next cam cycle.
A cam wraps around to start again at its beginning, if there is a
difference between the final and beginning output position of
the cam table, the offset is adjusted by the difference, so the
Current Position of the cam is always the actual output position
described by the cam table.
Cam Table
File Name the filename describing the cam motion.
Cam files are generated by Ultraware software when you insert
a cam table under the Cam branch in the workspace. The cam
files generated are stored in the drives flash file system under a
directory named /Cam.dir. If a cam table is created with the
default name of Table.cam, and loaded into drive memory, the
File Name is /Cam.dir/Table.cam. User programs may set the
File Name attribute to different paths.
File Loaded The current cam memory load status:
Yes – a cam file has been loaded into memory.
No – a cam file is not loaded into memory.
Note: The Filename attribute can be changed by a user program
after a cam file is loaded, so the Filename displayed may not be
the name of the file that is loaded.
Mode The current mode of the cam:
• Locked – the cam is active, and a different cam file cannot be
loaded.
• Unlocked – the cam table is inactive, and a cam file may be
loaded into memory.
The Cam Table is Locked whenever the Cam is enabled.
Count The number of segments in the loaded cam table.
A cam table is divided into segments that start at each point
defined in the cam file. (Except the final point displayed in the
Cam table interface is used only to define the end of the
previous segment, not the start of a segment.)
Status Description