Periodic Type E-CAM

When the E-CAM type is Periodic, the master-slave position curve defined by the E-CAM table is repeated beyond the range of the E-CAM table.

The following example illustrates E-CAM control in Periodic mode.

Master Axis Position	Slave Axis Position
-10000	1000
-5000	1500
0	1000
5000	500
10000	1000

The above E-CAM table will command the slave axis based on the master axis position as shown in the following plot:

Incontinuous Velocity

When the Periodic type, if the slave command positions of the first and last points in the E-CAM table are not equal, there will be a sudden change in the slave command position at each interface where the first and last points meet.

For example, the slave command positions of the first and last points are not equal in the following E-CAM table:

Master Axis Position	Slave Axis Position
-5000	1500
0	1000
5000	500
10000	1000

The above E-CAM table will command the slave axis based on the master axis position as shown in the following plot:

Single Turn Master Axis

If the master axis is a single turn axis (set using SetSingleTurn), the Normal and Periodic types will behave identically if the master axis positions are defined in the E-CAM table for the entire single turn encoder range.

If the master axis is a single turn axis, but the master axis positions are defined only for a part of the single turn encoder range, then the points in the E-CAM table are duplicated and repeated beyond the first and last points in the E-CAM table until the master axis positions are defined for the entire single turn encoder range.

For example, if the single turn encoder range of the master axis is from 0 to 30000, the following E-CAM table defines the master axis position for only a part of this range.

Master Axis Position	Slave Axis Position
5000	1000
15000	2000
25000	1000

The above E-CAM table will command the slave axis based on the master axis position as shown in the following plot: