Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 151)

Rockwell Automation Publication 2098-UM001G-EN-P - February 2011 153
Configuring the Ultra5000 Drive Chapter 4
The following direct commands can be executed for a Cam branch of an online
drive.
Customize the Cam window for your Ultra5000 Drive by selecting one or more
of these commands:
• Click Show Status to display or hide the Status pane.
• Click Show Commands to display or hide the Commands pane.
• Click Setup to open the Monitor Setup window, where you can customize
the status display for this window.
• Click Revert to return parameter settings to the values they held when you
opened this window.
Order
Each of the segments of an Ultra5000 cam table is defined by a
polynomial equation, such as:
Output position = A + B*(Input Position) + C*(Input Position)^2
+…
The cam table Order is the highest order term in the right side of
this equation. All of the segments in a cam table must have the
same order. Cam files are generated as first order equations
when the cam table is a linear type, and 5th order equations
when the cam table is a polynomial type. A 5th order polynomial
provides sufficient degrees-of-freedom to constrain the
positions, velocities, and accelerations at the ends of each
segment.
Length The maximum value of Input Position in the cam table.
Offset The ending output position defined in the cam table.
Command Description
Unload Table Unloads the cam file from memory. This command can be used
to free drive resources, if necessary.
Enable Cam Causes the cam to begin generating an output position.
Note: A cam table file must be loaded to enable cam, or an
Invalid State error occurs.
Disable Cam Causes the cam to stop generating output, but the Current
Position output is held constant at the current value.
Status Description