Program Examples:Camming by Virtual Master/Full Example

'------------------------------------------------------------------------------
' File:        CamDemo.prg
' Purpose:     Demonstrating Cam table usage
' Version:     1.00
' Author:      Mirko
' Description:
' History:     YYYY-MM-DD  <MyShortCut>  V1.00
'              Created
'------------------------------------------------------------------------------
common shared CamTable1 as cam ' the global cam table
program
  ' Some local variables
  dim i as long
  dim camsize as long = 1000
  dim cam_amplitude as double = 200

  ' Axis parameters can not be set if the axis in slaved therefore ressetting the master-slave relationship
  Attach A2
    A2.Slave =0 
  Detach A2

  ' Setting the axis parameters
  call SetAxis(a1,1000)
  call setaxis(a2,1000)
  
  
  CamTable1.Cycle = -1              ' Endless cam table
   
  createcamdata camsize CamTable1   ' Create 1000 points

  ' Sine function
  for i = 1 to CamTable1.Size 
    CamTable1.MasterData [i] = 360*(i-1)/CamTable1.Size ' Master in degrees
    CamTable1.SlaveData  [i] = cam_amplitude *sin (CamTable1.MasterData [i] * pi/180)
  next
  
  storecamdata ct1.cam CamTable1  ' save it on the disk
  
  
  Attach A2
    a2.MasterSource = a1.pcmd  ' Master is A1's position command (PCMD)
    a2.GearRatio = 1.0         ' gear 1:1
    a2.CamOffset = 0           ' No offset
    a2.FirstCam  = CamTable1   ' connect
    a2.slave     = cam         ' engage
    A2.en = 1                  ' enable slave
  Detach A2
  
  ' Move the master axis
  Attach A1
    A1.en = 1
    Jog A1 100
  Detach A1
end program ' <MyTask>.prg


sub SetAxis(ax as generic axis, byval vvv as double)
  dim  omega as double = 15
  dim  profile as long = -1
  with ax
    attach
      en = 0
      sleep 10
      simulated = 0
      
      pfac = pos_units[elementid]/5 'For 5mm pitch 
      
      vfac = pfac/1000 ' mm /sec
      afac = vfac/1000 ' mm /sec^2
      jfac = afac/1000 ' mm / sec^3
      vmax = vvv
      amax = 1500
      dmax = 1500
      jmax = omega*amax ' Fast reacting
      vcruise = vmax
      acc = amax
      dec = dmax
      jerk = jmax
      prftype = profile
      smooth = -1
      vospd               = 2*vmax 
      velocitysafetylimit = 100*vmax
      positionerrorsettle = 5
      pemax  = 1
      pmaxen = 1
      pminen = 1
      disp = 0
      abs = 1
      positionrolloverenable = 0
      simulated = 1
      Print "axis ";elementname;" set."
    detach
  end with
end sub

The example corresponds to commit SHA-1: 504227da968b38aa5a4bae7473388edd13f7b929 in GIT.

See Also

• Camming by Virtual Master