CAM Profile Editor's CAM Table

Figure 1: Cam Table

• 
  

• By default, when a new profile is created, the CAM Profile The position of a slave axis is mathematically linked to the position of a master axis. Example: A system where two rotating drums turn at a given ratio to each other. A more advanced case of electronic gearing is electronic camming. With electronic camming, a slave axis follows a profile that is a function of the master position. This profile need not be linear but it must be a mathematical function. contains five points.
  These points could be different from those in the image, depending on the offsets and amplitudes specified in the CAM Profile.
  See the Create a CAM Profile for more information.

Cam Editor - Table Parameters

Column	Description
Master/In	The time is located in the Master/In column. It is the X-axis of the cam profile graph.
Slave/Out	The position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. is located in the Slave/Out column. It is the Y-axis of the cam profile graph.
Type	The Type column defines whether this element is a point or a line. If the element is a line, In/Out specifies the start point of the line. The next element in the table defines the end of the line. The last element type in the table cannot be changed, since a line cannot exist as the last element.
Vel	The Velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP of the current element (first derivative).
Accel	The Acceleration A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics) of the current element (second derivative).

Cyclic Cam Element

If the Cyclic check box is selected, the cam profile is executed cyclically.

• This means that, when the axis attached to this cam runs continuously, the same profile is executed again.
  • In this case, the first and last element must have the same Vel and Accel values.
  • Changing the Vel or Accel value of the first or last elements automatically changes the other elements' value.

• 
  

• When Cyclic is first turned on, the Vel/Accel values are automatically copied from the first element to the last element when they do not match.
  A warning dialog opens indicating this change has happened.
  This alert cannot be suppressed until KAS Kollmorgen Automation Suite is closed.

There are some combinations of points and lines where Cyclic is automatically turned off.

If this occurs, the Cyclic checkbox label is changed to Cyclic (automatically turned off).

These changes to the profile automatically turn off Cyclic:

• The first element has been changed from a point to a line.
  • If needed, Cyclic can be manually turned back on.
    This will affect the velocity of the last element.
• The next to last element has been changed from a point to a line and now both first and next to last elements are lines.
  • Cyclic is disabled Removal of the ENABLE signal. Disables power stage. and can only be re-enabled when the first and next to last elements are not lines.
• The first element is a line and the first element is moved.
  • If needed, Cyclic can be manually turned back on.
    This will affect the velocity of the last element.
• The first element is a line and the second element is moved.
  • If needed, Cyclic can be manually turned back on.
    This will affect the velocity of the last element.
• The first element is a line and the last elements velocity (or slope line) has changed.
  • If needed, Cyclic can be manually turned back on.
    This will change the velocity setting just made.