Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 156)

158 Rockwell Automation Publication 2098-UM001G-EN-P - February 2011
Chapter 4 Configuring the Ultra5000 Drive
Table Pane
The Table pane, on the left but below the Properties Pane, contains values for
these parameters in each segment of a cam.
The Table pane below the Properties contains the cam table point information.
• Input, Position, and Velocity values are displayed for polynomial mode
cam tables, but
• only Input and Position values are displayed for linear mode cam tables.
Parameter Description
Input The position on the x-axis for each point of the cam. Each input
on the cam has a specific input value in counts. The initial input
value is 0 and the default final input value is 1000.
Position The position on the y-axis for each point of the cam. Each input
on the cam has a specific position value in counts. The initial
(and typically the final) position value is 0.
Velocity (Displayed only for Polynomial Mode cam tables.)
The instantaneous velocity in units of (output position counts
per input count) per input count for the specific point of the cam.
By default, an instantaneous velocity of 0 is set for each point
added to a polynomial type segment and the velocity for each
point added to a linear type segment is calculated.
• A positive velocity value increases the initial acceleration of
the cam segment, and consequently results in reduced
velocity at the end of the cam segment.
• A negative velocity value decreases the initial acceleration of
the cam segment, and consequently results in higher velocity
at the end of the cam segment.
Type (Displayed only for Polynomial Mode cam tables.)
The type of cam segment following the point.
• Linear
• Polynomial