The customer was using a Virtual Axis – GearIn – Real Axis.
Everything worked fine at a speed of 2 m/s. However, at 3 m/s, the motion system triggered an error:
-1067379730 [5102]: Too many changes of cam per cycle (master period too short)
Aplication not involve a complex cam profile or anything complicated, just a simple MC_BR_GearIn function was used in ration 1:1.
The solution turned out to be very simple.
When the settings were:
RatioNumerator := 1;
RatioDenominator := 1;
→ ERROR = -1067379730 [5102]
When the settings were:
RatioNumerator := 1000;
RatioDenominator := 1000;
→ OK, Gear In works without issues.
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Hello,
Thanks for creating this How To. I was teaching this in every Motion Training, but it is a good idea to share it here.
For GearIn we use a 1:1 Cam in the CAM-Automat of the ACOPOS.
With this RatioNumerator and RatioDenominator this 1:1 Cam is stretched.
With the Axis Resolution we have a Scaling from Real-Position Values (PLC) to ACOPOS Position Values (DINT). Typicaly 0.01 → *100 or 0.001 → *1000
The CAM-Automat works in ACOPOS Units on the Axis.
A CAM which has a Master length of 1000 Units and the possibility of changing CAM once per Cycle you get a maximum Master-Position change of around maximum 2000 Units/400µs
If you assue a Resolution of 0.001 you will get to a maximum Master Velocity of 5000000 Units/s on the ACOPOS and 5000 mm/s on PLC.
B&R did not implement an automatic “stretching” the coustomer has to do it on his own.
Greetings
Michael Bertsch
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Hi,
Re:
B&R did not implement an automatic “stretching” the coustomer has to do it on his own.
B&R has implemented an automatic streching, but a vital parameter for the calculation has to be set correctly, which is “AdvancedParameters.MasterMaxVelocity”.
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