Technical data

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CPU 317T: Technology Functions
A5E00251798-03
4-101
4.7.5.2 Defining cam disk segments for motion control commands
Defining the working ranges
The working ranges of a motion control command are usually defined by the
process.
Example:
1. A tool waits on a production line for a piece to pass by (dwell).
2. The tool is synchronized to the work piece and performs an action on the work
piece (constant velocity).
3. The tool then returns to the waiting position (reversal).
The process starts over from the beginning.
In order to implement this sequence, the segments of a cam must first be created
to match the working ranges.
Creating motion transitions
You then define the motion transitions that satisfy certain conditions, e.g. jerk-free
motion.
• This requires that the motion transition first be transformed to the normalized
range.
• Make allowances for marginal conditions, i.e., position, velocity, and
acceleration at the segment borders.
• In order to apply a polynomial defined in such a way, it must be transformed
back into the physical range.
Creating motion transitions to VDI:
References
• VDI Directive 2143, Page 1: Motion Laws for Cam Mechanisms - Basic Theory,
Düsseldorf: VDI-Verlag, 1980
• Volmer, J. (Publisher): Mechanism Design - Cam Mechanisms, 2. Release
Berlin: Verlag Technik, 1989