How To Setup Camming with IAI RCON EtherCAT Motion and Machine Automation Controller N Series PLC

Hello everyone, today I will illustrate how to setup camming with IAI EtherCAT Motion with an Omron Machine Automation Controller N series PLC.
I'm Tom Trinh, senior application engineer for Valeant Corporation. Let's get started

So here's the hardware layout I have for this illustration. I have an IAI RCON-GW-ECM and RCON-AC-2. So this is a EtherCAT motion. And this card here allows me to connect to two actuators to it. And that is RCA2-RP4NA-I-20-4-50-A1-N, and the 2nd actuator is an RCA2-GD3NA-I-10-2S-50-A1-N,and I also have a power supply here and I'm powering up the RCON controller as well as my Omron Machine Automation Controller NX102-1020. I also have a EtherCAT port, a Ethercat cable connect between the EtherCAT port of the NX102-1020 and EtherCAT port of RCON controller, and I have my computer running Sysmac Studio software from Omron and IAI gateway parameter configuration as well as an IAI Robo cylinder software to set up. And I have a USB connected between my laptop to the USB port or the RCON controller, and another Ethernet cable to my laptop and to EtherNet/IP port of the NX102-1020.

I have all the videos showing how to set up both the IAI RCON EtherCAT motion controller as well as Omron Machine Automation Controller NX102-1020 for the basic motion and how to set up. I'm not going to go with that. This video is basically focus on how to set up the camming on the NX102-1020.

Having said that, what you see here again I have two axis, IAI, and motion axis, the axis is already set up as well, so that's not what we cover now, but here's the Cam data setting. Now if you need to add the another CAM profile, you right mouse click here and you click add OK and CAM profile. So now there's another CAM profile here. I'm not going to go into it, but I'm going to show you in detail what I set up on the existing one. So I’m going to delete this. So here's a CamProfile1, what you need to fill in is the master axis unit, in this case is millimeter. Slave axis unit is also in this case millimeter. And the number of null cam data is zero. The cycle time is one second. Maximum velocity is 100 millimeter per second in my case and the maximum acceleration is 100 millimeter per second square and the initial velocity is 61.391 millimeter per second. Initial acceleration is 0 millimeter per second square, and you can start filling the data from this table here manually for the master axis position, as well as a slave and also the Cam curve. I'm using straight line when I'm going to arrow down so you can see number of different Cam curves that you can select. And then the phase pitch I have on here is 0.01. Once you finish on the table, this is how it is looking. Like I said, you can change the data here, but you can change the point on the curve itself. Let's see how I just change that, right? I can put it back so you can create a curve from here or you fill in the table. You can also import or export and Cam profile as well. So that's how the CAM Profile is set up. Let's go into the programming.

There are two main function blocks that you would need and that is the MC_Camin and in this function block, what you will see is the master here, this is where you define what is the master axis for the CAM. I'm using axis 000 for the master and I'm using axis 001 for the slave. As far as the camp table I'm using CamProfile1 in this function block and that's basically what I define on this side here and I have a contact here, Start_Cam_1 and that's to execute the Camin. I have a periodic as CAM_Repeat. Startmode, Cam_Mode there's a number of different mode, but that's my variable there. The StartPosition, here's another variable I have here for the start position which is CAM_Start_Point. The MasterStartdistance, I have another variable here called CAM_Start_Point.  Then the MasterScaling, I have another variable Cam_Scaling. And slave scaling and I have another variable CAM_Scaling and then for master offset there's a variable CAM_Offset. SlaveOffset I have CAM_Offset.  ReferenceType, I have a variable called CAM_Master_feedback. Direction, I also have another variable CAM_Direction. CAMTransition, I have a variable called CAM_Transition. And the buffer mode I have a CAM_Buffer_Mode. and also have some variable on the Output side also for the function block as you can see here, so that's for the Camin.

Another function block that you would need is CamOut which is MC_CamOut. On this one because I need to Cam out stop the Cam from this slave and that's I'm using MC_Axis001.  I have a contact here to stop the camp and to execute it so that is Stop_Cam. I have a variable Cam_Stop_Decel for deceleration. Cam_Jerk for the Jerk input for this function block. In Cam_End_Mode mode for the Outmode. I also define some of the outputs here for busy error and error ID, so those are the two main function blocks that perform the CAM. So what I'm going to do, I'm going to go online and clicking this icon here. And I have a video how to do that as well, which I will put in the transcript. And I also have the CAM right here. As you can see my CAM profile, the horizontal axis is my master. And the vertical axis is my slave axis.  So this axis here is my master, so as it is extended from zero to 40, the slave axis will be also extended to about 30 millimeter and then retracted and it will automatically do that for you because of the Cam profile. So let's do that.

So first and foremost, I need to enable my Cam which is this button here. At this point I am. By doing this. So now. I’m in Cam. And I'm going to go to Axis 1. I'm going to execute more relatives here. So when I turn that on, it will go 40 millimeter. So let me turn back my camera here. So what I'm going to do is I'm going to execute this increment. As soon as I do that the master axis will be extended 40 millimeter and then this slave axis will come in about 30 millimeter, which is about there and then come back OK. Just like the CAM profile is executing. So here we go. See it's going in  30 millimeter and then it comes out and it is finished. So that's basically matching this CAM profile. The master axis goes from zero to 40 millimeter and the slave axis go extended for 30 millimeters. So it goes out here and then it comes back to zero.

So that's how you set up the CAM using the IAI EtherCAT Motion Controller and an Omron Machine Automation Controller NX102-1020.
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