LinMot

Motion Control SW
L i n M o t ®
5.5 Cam Motions
NOTE: Cam motions are not available in the B1100 servo controllers.
For high speed synchronization different modes of cam motions are supported. The motions
are defined with cam curves, which can be defined with the curve tool of the LinMot-Talk
software.
5.5.1 Triggered Cam Motions
For triggered cam motions setup the master encoder and then set cam mode (UPID1527h)
to infinite length. Then use the motion commands 069xh or 06Bxh to setup the cam curves
which should be started at the trigger event, or use the triggered cam curve run mode.
5.5.2 Repeated Cam Motions with the Modulo CamMode
For repeated cam motions setup the master encoder and then set cam mode (UPID1527h)
to modulo cam length. The cam length can be defined independently from the master
encoder length! So with a 8000 counts ABZ master encoder also 16’000 counts or 4’000
counts cam length is possible.
With the following sequence a startup or resynchronization to a standing master encoder is
possible:
- Move to start position of cam 1 motion e.g. VAI GoTo Pos (010xh)
- Define cam 1 motion e.g. Encoder CAM 1 Define Curve To Pos (112xh)
- Move to start position of cam 2 motion e.g. VAI GoTo Pos (010xh)
- Define cam 2 motion e.g. Encoder CAM 2 Define Curve To Pos (112xh)
- Go to synchronized cam position with (102xh)
- After synchronized cam position is reached enable cam motion with (100xh)
- Start turning the encoder
With the following sequence a (re)synchronization to a moving master encoder is possible:
- Disable cam start enable (UPID 1528h) and wait until cam enabled vanishes, or clear
also cam enabled (1BA9h)
- Move to start position of cam 1 motion e.g. VAI GoTo Pos (010xh)
- Define cam 1 motion e.g. Encoder CAM 1 Define Curve To Pos (112xh)
- Define cam 2 motion e.g. Encoder CAM 2 Define Curve To Pos (112xh)
- After the synchronized cam position is reached, enable the cam motion with (100xh)
- Enable cam start enable (UPID 1528h)
NTI AG / LinMot User Manual Motion Control SW/ 07.09.2011 Page 83/105