Yaskawa LEGEND-MC - Manual (Page 283)

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LEGEND-MC User’s Manual
This disengages the slave axis at a specified master position. If the parameter is outside the master cycle,
the stopping is instantaneous.
To illustrate the complete process, consider the cam relationship described by
the equation:
Y = 0.5 ∗ X + 100 sin (0.18 ∗ X)
where X is the master, with a cycle of 2000 counts.
The cam table can be constructed manually, point by point, or automatically by a program. The following
program includes the set-up.
The instruction EAX defines X as the master axis. The cycle of the master is
2000. Over that cycle, X varies by 1000. This leads to the instruction EM 2000,1000.
Suppose we want to define a table with 100 segments. This implies increments of 20 counts each. If the
master points are to start at zero, the required instruction is EP 20,0.
The following routine computes the table points. As the phase equals 0.18X and X varies in increments
of 20, the phase varies by increments of 3.6
°. The program then computes the values of SLAVE
according to the equation and assigns the values to the table with the instruction ET[N] = SLAVE.
Now suppose that the slave axis is engaged with a start signal, input 1, but that both the engagement and
disengagement points must be done at the center of the cycle: X = 1000 and Y = 500. This implies that Y
must be driven to that point to avoid a jump.
Instruction Interpretation
#SETUP Label
EAX Select X as master
EM 1000 Specify slave cycle
EP 20,0 Master position increments
MM 1000 Specify master cycle
N = 0 Index
#LOOP Loop to construct table from equation
P = N
∗3.6
Note 3.6 = 0.18
∗20
S = @SIN [P]
∗100
Define sine position
SLAVE = N
∗10+S
Define slave position
ET [N] = SLAVE Define table
N = N+1
JP #LOOP, N<=100 Repeat the process
EN