Yaskawa MP940 Reference Manual - Manual (Page 417)

Control Mode MotionSuite™ MP940 Machine Controller Reference Manual
11-20
User Program Example 2 (Electronic Camming)
From the beginning, camming has been a means of converting rotary motion
to linear motion, and has been used to obtain the desired motion curves
(displacement graph) in one cycle.
• Machine camming creates a cam in a form corresponding to this dis-
placement graph, places runners along its path, then obtains a desired
linear motion by rotating this cam.
• In electronic camming, the displacement graph data itself is held inside
the controller as a position pattern and executes continuous position con-
trol (also called Continuous Path (CP) control) by shifting the position.
Configure the electronic camming control loop by using phase control.
Normal position control generates the position reference by integrating the
base speed reference in the SVA module.
On the other hand, the electronic camming control loop cuts out the
integration circuit of the base speed reference, and transmits the position
reference according to the phase bias setting.
θ
Phase
Reference
Generation of Phase Change Pattern
Position
Control
S
Xref
+
+
+ -
+
-
M
PG
Servo
Motor
Encoder
Slide
Displacement
Phase θ
Speed
Control
Follower
Displacement
Phase θ
Mechanical Cam
Follower
When a mechanical
cam is turned, the
follower moves in a
linear motion as per the
deviation drawing.
Me
chan
ical Ca
mming
M
Ball Screw
Follower
MP920
Electon
ic C
amm
ing