Yaskawa MotionWorks IEC - Manual (Page 376)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 368
On-The-Fly Adjustments
There are three types of on the fly adjustments that can be
performed. Shift, Offset, and Scale. These adjustments are shown in the
camming block diagram in this section. If the application has multiple
slaves, note that adjustments are made only to individual slaves, as each
slave has its own copy of the master data. For example, a CamShift for
slave #1, will not affect Slave #2 unless the same function with the same
shift amount is executed for Slave #2.
All adjustments can be made in three ways, based on the data configured
in the Adjustmode input of the function.
• Over a relative change in position of the master
• Over time
• To start and complete between two specified master positions
If the master is outside the range when the block executes, the
adjustment will wait until the master crosses into the range. If the master
is already within the range when the block executes, the adjustment will
stat immediately.
For all cases, the correction is governed by a modified sine progression
from 0 to 100% of the correction. This provides a smooth for the slave..