Field/button
Meaning/information
Processing cycle clock
Choose Processing cycle clock to select the system cycle clock used to update the output cam
signal at the output or in the system variables.
The cam calculations are performed in IPO or IPO_2 cycles or in servo cycles. The processing
cycle clock is set in the configuration by means of the OcaBaseCfg.taskLevel configuration data
element.
IPO
(default value)
The output cam signal is updated in the interpolator cycle clock.
IPO_2
The output cam signal is updated in the interpolator cycle clock 2. The IPO_2 cycle clock length
is at least twice that of the IPO.
Servo
The output cam signal is updated in servo cycles.
The following configurations of the processing cycle clock are possible:
● Axis in IPO cycles and output cam in IPO_2 cycles
● Output cam in servo cycles and axis in IPO or IPO_2 cycles
For the possible setting of IPO_fast and Servo_fast with D435-2, D445-2 and D455-2, see
Section Second servo cycle clock (Servo_fast) in the SIMOTION Runtime Basic Functions
Manual.
Note:
● It is not possible to configure the axis in the servo cycle clock and the output cam in the IPO
or IPO_2 cycle clock.
● It is not possible to configure the axis in the IPO cycle clock and the output cam in the IPO_2
cycle clock if it is a setpoint output cam.
● It is not possible to configure the axis in the IPO_2 cycle clock and the output cam in the IPO
cycle clock.
Type of output cam value Select the position value that is the reference for the output cam during processing.
Actual value reference
Select the following settings here depending on the type of the output cam values:
● Reference to the actual value on the encoder without considering Ti. Reference to the actual
position in the controller before the position filter.
● Reference to the actual value after the position filter. Reference to the actual position in the
controller after the position filter.
● Reference to the actual value on the encoder. Ti is considered. Reference to the actual value
on the encoder module / drive. The transmission time Ti from the encoder module / drive to
the controller is taken into account by the system.
Setpoint reference
Select the following settings here depending on the type of the output cam values:
● Reference to the setpoint before the fine interpolator. The cam switch points are calculated
as if the setpoints will already have been reached at the end of this IPO cycle, e.g. if a setpoint
is calculated for the IPO cycle clock with the virtual axis and also displayed at the end of the
cycle. Reference is made directly to the setpoint applicable at the end of the cycle.
● Reference to the setpoint after the fine interpolator. The cam switch points are calculated as
if the setpoint calculated in the interpolator will be output completely in the following cycle
and the calculated position setpoint will therefore be reached at the end of the following cycle.
● Reference to the setpoint on the drive. Calculation of the cam switch points according to the
setpoint output with the current settings on the drive.
Activate output
Activate the checkbox if the output cam signal is to be applied to a digital output. Parameters
are displayed.
Output Cam TO - Part I
3.3 Configuring the Output Cam technology object
Output Cams and Measuring Inputs
Function Manual, 04/2014
41
