Allen-Bradley 1756-M02AS User Manual

110 Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016
Chapter 8 Configure Camming
Linear and Cubic Interpolation
The resultant calculated cam profiles are fully interpolated. The linear or cubic
interpolation between adjacent points determines the slave axis position if the
following is true:
• The current master position or time does not correspond exactly with a
point in the cam array that is used to generate the cam profile.
In this way, the smoothest possible slave motion is provided. The MCCP
instruction accomplishes this condition by calculating coefficients to a
polynomial equation that determines slave position as a function of master
position or time.
Each point in the cam array that is used to generate the position cam profile can
be configured for linear or cubic interpolation. Electronic camming remains
active through any subsequent execution of jog, or move processes for the slave
axis. This condition allows electronic camming motions to be superimposed
with jog, or move profiles to create complex motion and synchronization.
Time Cam Profile
A time cam profile functions similarly to a cam drum driven by a constant
speed motor.
A time cam profile is also defined by using a table of points. However, with the
time cam profile, the table contains the following information:
• An array of master axis time values
• An array of slave axis position values
The master axis time values correspond to slave axis position value. When the
master axis reaches a specific point in time, the slave axis moves to a specific
position as configured in the cam profile.
Time cam profiles are used with Motion Axis Time Cam (MATC)
instructions. Upon execution of this instruction, the slave axis is synchronized
with the master axis.
See the Logix5000 Controllers Motion Instructions Reference Manual,
publication MOTION-RM002
, for more information on how to configure
the position cam profile in an MATC instruction.
Linear and Cubic Interpolation
Time cams are fully interpolated. The linear or cubic interpolation between
the adjacent points determines the slave axis position if the following is true:
• The current master time value does not correspond exactly with a point
in the cam table that is associated with the cam profile

Allen-Bradley 1756-M02AS Specifications

General

Brand	Allen-Bradley
Model	1756-M02AS
Category	Control Unit
Language	English

Summary

Create and Configure a Coordinate System

Coordinate System Creation Process

Steps to create a coordinate system tag, defining its type, dimension, and associated axes.

Coordinate System Configuration Options

Details on configuring coordinate system properties via tabs like General, Geometry, Units, Offsets, Joints, Dynamics, and Tag.

Configure a Cartesian Coordinate System

Configuring Motion Instructions and Blending

Programming MCLM instructions, blending moves, and understanding termination types and bit states.

Velocity Profiles and Termination Types

Explains collinear, symmetric, and triangular velocity profiles, and how to select termination types.

Configure Kinematics Coordinate Systems

Kinematics Instructions and Setup

Introduces MCTP, MCSR instructions, essential terms, robot info, and determining coordinate system type.

Preparing for Kinematics Configuration

Gathers robot information, summarizes kinematic steps, and identifies the correct coordinate system type.

Configure an Articulated Independent Robot

Reference Frame and Robot Parameters

Establishes reference frame, methods, work envelope, link lengths, base offsets, and end-effector offsets.

Robot Geometry Configuration

Detailed steps for configuring Delta (3D, 2D) and SCARA Delta robot geometries.

Arm Solutions and Kinematics

Explains arm solutions, singularities, and SCARA Independent robot setup and configuration.

Configure an Articulated Dependent Robot

Reference Frame and Robot Setup

Establishes the reference frame and methods for an Articulated Dependent robot.

Robot Configuration and Work Envelope

Covers robot parameters, work envelope, and link lengths for configuration.

Configure a Cartesian Gantry Robot

Reference Frame and Work Envelope

Setting up the reference frame and defining the work envelope for Cartesian Gantry robots.

Configuration Parameters

Notes that parameters like link lengths are not needed for Cartesian Gantry robot configuration.

Configure a Cartesian H-bot

Understanding the H-bot

Overview of H-bot mechanics, axes, and movement capabilities.

Reference Frame and Configuration

Setting up reference frame, work envelope, and parameters for Cartesian H-bots.

Configure Camming

Camming Concepts and Profiles

Defines camming, profiles (position, time), and common types like Acceleration and Run cams.

Camming Execution and Scaling

Covers scaling, execution modes (Once, Continuous), schedules (Immediate, Pending), and pending cams.