CamMaker V1.0 User's Manual
Contents
1. 10 5 2 3 Grid 11 5 2 4 Point 11 5 2 5 ZOOM 11 5 3 Information 20 2 20 22 een anne nen nn nen nnn e eee n nnn e een nnneen acne neceens 12 5 3 1 Cam Properties 12 5 3 2 Cam Information 12 Doc No 006 8028 Page I Rev November 20th 1995 CamMaker 1 0 Socapel PAM User s Manual Page II Doc No 006 8028 Rev November 20th 1995 CamMaker 1 0 Socapel PAM User s Manual 1 WHAT IS CAMMAKER CamMaker is a graphical design help for cam pipe blocks From a given set of points and some constraints it calculates a complete cam shape To do that it use the same interpolation algorithm as PAM So the user gets from the PAM cam pipe block what CamMaker has displayed It is possible to visualise the position speed acceleration and jerk diagrams CamMaker sto2. 2 02 2202 2en cen nennnennnen nee nnee anes ners cee n cee scenseeseees 4 2 3 1 Cyclic parameter 4 2 3 2 User s points values 4 2 3 3 Constraints 4 2 3 4 Fixed values 5 3 WHAT DOES CAMMAKER IMPROVE IN CAM DESIGN 6 INTERPOLATION S RULES Wee ia aeaiia 8 5 OTHER DESCRIPTIONS AND POSSIBILITIES 9 5 1 Building Utilities 7 7 77 7 77 een ne nen nen ee neenennennenences 9 5 1 1 Markers 9 5 1 2 Cam Check 9 5 2 CamMaker s Window Description 7 10 5 2 1 Shown Profiles 10 5 2 2 Labels
3. lt target directory gt 2 2 HOW TO CREATE A CAM CamMaker must have some user s point to build a cam Those are the points the user define through which the cam have to go You can then create a new cam defining these points in a CSV file but you can also reuse cams you have created with PAMCAM utility In this case the points are extracted from the PCF file 2 2 1 CREATE A NEW CAM WITH CSV FILE To build a new cam you have then to define user s points in a CSV file You can create such a file with a spreadsheet e g Excel following some rules e The points don t have to be evenly distributed on the X axis e Minimum number of points 4 e Maximum number of points 800 e All values for x and y can be floating point number or integer transformed to floating point in CamMaker e The decimal separator must be a point e Save as a CSV file comma or semicolon as separator Page 2 Doc No 006 8028 Rev November 20th 1995 CamMaker 1 0 Socapel PAM User s Manual You can also directly create such a file with a text editor Example When the points are defined run CamMaker and open the CSV file either selecting New in the File menu or clicking on in the toolbar Choose the CSV file and click The Import CSV dialogue box is then open Import CSY Last Line l X Column l Y Column ee A TT You can define here which data s of the CSV file have to be extract as user s points By defau
4. at particular point X e Set marker 1 Shift Left mouse button Shift Ctrl Left mouse button marker on nearest user s point e Set marker 2 Shift Right mouse button Shift Ctrl Right mouse button marker on nearest user s point You can then see in the window e Marker s name M1 or M2 is shown above the marker s dotted line e Markers position is shown on top of the cam window M1 at left M2 in the middle If a marker is outside the profile graphic area its position is not shown A star indicates if the marker is on a user s point e Delta between markers 1 and 2 is shown also on top of the cam window at right e Each profile s value at markers position is shown near the intersection of the profile and the marker s dotted line e For each profile the difference between the value at marker 1 and the one at marker 2 is shown at the upper right corner of the profile graphic area 5 1 2 CAM CHECK In some cases interpolation can produce under and overshoot It means that the highest cam profile value can be bigger than the higher user s point and the lowest cam profile value can be lower than the lowest user s point So the Cam Check function can help you to check if the cam profiles as well position as speed acceleration or jerk don t exceed certain limits To check your cam select the Check option in the Cam menu Y Max C Y Min jo Y Max fo Yuin fo Y Max io 8 t S
5. on the cam shape by different ways 2 3 1 CYCLIC PARAMETER This parameter allows to define a cam which will be executed cyclically It means that when the axis which is attached to the cam will run continuously when the end of the cam is reached the same cam is executed again By default this parameter is on To remove it select the Cyclic option in the Cam menu 2 3 2 USER S POINTS VALUES In the Point dialogue box you can modify the value either in X or Y of each point you have defined Pit Point Number 3 See X Value 8 5 m Y Value 3o Spline Y D Fixed Lik Ji b gt bi cese _ J You can open this dialogue box by three ways e Select the Point option of the Cam menu e Click on in the toolbar e Double click at right of the wanted point You have to validate each modification with Modified Y value must stay between y values of the previous and the next points You can not add or remove points 2 3 3 CONSTRAINTS At each point you can define some constraints It means you can define the interpolation method for the next segment There are three kinds of interpolation e straight the point is linked to the next with a straight line e parabola the point is linked to the one after the next with a segment of parabola It means that the next point is also on this segment of parabola and that it has also automatically the parabola constraint e spline the point is linked to the next with
6. shown except if the scale is in such a way that they are too close to each others The points are shown as circles with above the segment constraint and if any the fixed value constraint Segment constraint Fixed value constraint s spline Y Speed User s point Interpolated profile You can hide them either with the User points option of the View menu or directly clicking 7 on in the toolbox 5 2 5 ZOOM You can modify the view area Horizontal zoom e Click the left button in a profile graphic area which is defined for each profile as the shortest rectangle including the whole shown part of the profile e Hold the button down e Drag the mouse to define the zoom size Area zoom e Click the right button in a profile graphic area e Hold the button down e Drag the mouse to define a zoom area Previous view e Click on or select Previous in View menu Original View e Click on or select Original in View menu Doc No 006 8028 Page 11 Rev November 20th 1995 CamMaker 1 0 Socapel PAM User s Manual 5 3 INFORMATION There are some dialogue boxes which can give you information about the actual cam These dialogue boxes are 5 3 1 CAM PROPERTIES You can open it selecting Properties option in Cam menu Cam Properties The input output amplitude and offset take only the user s points into account It means that the interpolation can produce under and overshoots which are n
7. Min fo IX Check when save J By default the Cam Check dialogue box is also automatically opened when the cam is going to be saved Doc No 006 8028 Page 9 Rev November 20th 1995 CamMaker 1 0 Socapel PAM User s Manual 5 2 CAMMAKER S WINDOW DESCRIPTION 5 2 1 SHOWN PROFILES The cam profile dialogue box gives you the possibility to select the profiles shown Open this dialogue box with either the Profile selection of the Cam menu or clicking on in the toolbox Cam Profiles You can change the order in which the profiles appear selecting the profile you want to move and using the Move Up and Move Down buttons 5 2 2 LABELS The labels are shown on top of each profile By default they are y cam position y first derivative speed y second derivative acceleration yi third derivative jerk With the cam labels dialogue box you can define your own label for each profile Example of personal labels Current Label You can also define the default labels which are get when a new cam is created To do it select the Default labels option in the Option menu Page 10 Doc No 006 8028 Rev November 20th 1995 CamMaker 1 0 Socapel PAM User s Manual 5 2 3 GRID By default a grid is drawn in the background of each profile You can hide it with the Grid option of the View menu or directly clicking on in the toolbox 5 2 4 POINT By default the user s points are
8. Socapel PAM A Programmable Axes Manager CamMaker V1 0 User s Manual Ordering Number 006 8028 Rev November 20 1995 This upgraded and improved version replaces all the previous We reserve the right to amend this document without prior notice and decline all responsibilities for eventual errors Doc No 006 8028 CJ Atlas Copco Controls SA En Montillier 4 November 95 CH 1303 PENTHAZ by Atlas Copco Controls SA previously SOCAPEL SA Switzerland All rights reserved CamMaker 1 0 Socapel PAM User s Manual TABLE OF CONTENTS 1 WHAT IS CAMMAKER 20 02 0222 2 0 0 2 0 1 1 1 How to use this manual 2 0 0 20200 2 eennen seen nena nen neen concen nnee nes 1 2 GETTING STARTED 2 0 2 0 2 2 1 Installation 2 222 2222 22 eee een n nnn e eee nnn n eee n nee n eee n eee e eee n eee e eee neeeeeeeneeeeeeee 2 2 2 How to create a cam 0 222 2022 2ennnen nena nen nen nen nen nena nen nnen cee sneer ncenneesceesceees 2 2 2 1 Create a new cam with CSV file 2 2 2 2 Reuse PCF files 3 2 3 How to modify a cam
9. a spline third degree equation Page 4 Doc No 006 8028 Rev November 20th 1995 CamMaker 1 0 Socapel PAM User s Manual Depending on the constraints of the previous and next points some constraints can be unavailable You have to validate each modification with 2 3 4 FIXED VALUES At any point you can fix the value of the derivative speed second derivative acceleration As for the constraints depending on the constraints already defined you can not always fix these values You have to validate each modification with Doc No 006 8028 Page 5 Rev November 20th 1995 CamMaker 1 0 Socapel PAM User s Manual 3 WHAT DOES CAMMAKER IMPROVE IN CAM DESIGN Before CamMaker the cam shape was impossible to control because the interpolant calculation was done by PAM at initialisation time with a parabolic spline method worse the values between points were not accessible to the user or only roughly measurable with the DAC output leading the user to specify a large 100 or more number of definition points for a profile Another significant change is a new file format the IFC format specific to CamMaker to keep all information needed to obtain the result given to PAM This file contains the position table copied from the position points file e g CSV file all the constraints given by the user and other information The file use changes can be summarised as follows Before CamMaker with PAM 2 5
10. je csv file editor e g Excel N X Y ve a Uniform definition file PAMCAM profile file PAM profile csv utility profile pcf lt 2 4 x compiler Page 6 Doc No 006 8028 Rev November 20th 1995 CamMaker 1 0 Socapel PAM User s Manual Co cSv file editor With CamMaker and PAM 2 5 e g Excel X Y definition file a profile csv Profile file with CamMaker interpolants profile pcc 4 Old uniform J profile file f Profile position and constraints file profile ifc Oa Please notice the impossibility inherent to mathematics behind CamMaker to get the constraints information from the interpolants or in other words to revert from a PCC file to its IFC source file An important feature of CamMaker is its ability to handle nonuniform segmentation before with PAMCAM all the points defining a cam had to be separated by the same interval along the variable axis abscissa now it is possible to adjust the definition points density to the local complexity of the cam profile thus saving PAM non volatile memory for the application itself or allowing much more profiles to be stored For this reason the PCF format containing only ordinate data with implicitly uniform abscissa cannot be accepted by PAM compilers for versions 2 5 and above it is easy to obtain the same profiles as defined under previous versions with the corresponding CSV files as an input to Ca
11. lt the program will search x data in one column from the first line to the last one then it passes to the next column until it finds the first data valid one reel or integer number The search begins at the column 1 line 1 until the last line in the last column 1 But if you have build a special file other insignificant values before user s point definition you can select in which columns and lines the usable points are 2 2 2 REUSE PCF FILES CamMaker can import previous PAMCAM files with PCF extension as long as they have less than 800 points When you want to convert an old PCF file Run CamMaker and open the file either selecting New in the File menu or clicking on in the toolbar Don t forget to select PCF file format in the Open dialogue box Warning Check your cam at screen because as PAM 2 5 CamMaker uses the cubic interpolation some differences with previously used parabola interpolation are then possible should convert your existing cam not from PCF file but if they still exist from the CSV In that case you can remove superfluous points e g points which are in a Straight segment To limit the size of the CAM file thus save precious PAM memory you Doc No 006 8028 Page 3 Rev November 20th 1995 CamMaker 1 0 Socapel PAM User s Manual 2 3 HOW TO MODIFY A CAM CamMaker is made to give you the possibility to tune the cam you have defined with your points in the CSV or PCF file You can act
12. mMaker but it may be wise to eliminate all superfluous points Another significant improvement brought by CamMaker is an efficient control upon the transfer characteristics of the cam pipe block because CamMaker uses the same source code as PAM for the position profile calculation PAM 2 5 compiler profile pct Doc No 006 8028 Page 7 Rev November 20th 1995 CamMaker 1 0 Socapel PAM User s Manual 4 INTERPOLATION S RULES A All segments between points are interpolated by PAM with a cubic polynomial For any set of more than 2 consecutive spline segments i e without any straight line or parabola specification the equations derived from speed and acceleration continuities are incomplete requiring the specification of two additional constraints to define the coefficients of all interpolation segments These constraints can be given in various ways e If nothing is specified at all for the complete cam CamMaker will add a third derivative jerk continuity condition at second and at penultimate points called not a knot condition in the computer graphics literature e For acam without any straight line or parabola you can freely choose two conditions either at the same point explicitly fixing speed and acceleration at it or at two different points each with the choice to fix speed or acceleration If you choose only one condition the not a knot default condition will be used at the most distant e
13. ne cannot fix speed or acceleration at points B or C because the straight line specification already defines them e For the same basic reason if a parabola joining points A B and C i e a constant acceleration has been specified neither a straight line between C and D nor a parabola between C D and E can be accepted C Two fixed segments straight or parabola can be joined by insertion of a small unspecified segment to ensure speed continuity but if this joint is too small an acceleration jump may appear too large D A little caveat cubic spline set is a non local object If for a given set of consecutive segments without straight line or parabola specification i e a spline curve you change a condition at any point this will affect all the segments of the spline curve especially on large sets of points gt 50 or so this can give rise to surprisingly large values between points simply because it s the solution of the equation system The only way to break this non locality is to insert a straight line or a parabola to separate the spline curve into two parts such a segment can be very tiny but if it exists its neighbouring spline curve sections won t interact anymore Page 8 Doc No 006 8028 Rev November 20th 1995 CamMaker 1 0 Socapel PAM User s Manual 5 OTHER DESCRIPTIONS AND POSSIBILITIES 5 1 BUILDING UTILITIES 5 1 1 MARKERS You can set two markers to get some information about the profiles
14. ot shown here but which you can control with the cam check utility 5 3 2 CAM INFORMATION You can open it selecting Info option in Cam menu It gives information on the last save Cam Info Page 12 Doc No 006 8028 Rev November 20th 1995
15. re the cams in a special format IFC which contains the given set of points the constraints and other internal information It also provides a file PCC directly usable by the PAM compilator since PAM SYSTEM V2 5_1 1 1 HOW TO USE THIS MANUAL The first part Getting started gives you the minimum information to use CamMaker The second What does CamMaker improve tells you more about the CamMaker philosophy The third Interpolation rules explains how the interpolation is done and can help you to understand profile s behaviour The fourth gives you additional possibilities and descriptions of CamMaker Doc No 006 8028 Page 1 Rev November 20th 1995 CamMaker 1 0 Socapel PAM User s Manual 2 GETTING STARTED 2 1 INSTALLATION To install CamMaker e Insert the first disk of CamMaker in the disk drive e In the Program manager of Windows main window select the Execute option of the File menu e Type a setup where a is the name of your disk drive e Click on OK e Follow the instructions By default and if any other SOCAPEL tools are already installed the lt target directory gt is CASOCATOOL The modifications done in the configuration files are WIN INI Socapel Tools BaseDirectory lt target directory gt SOCATOOL INI Help Directory lt help directory gt located in the target directory AUTOEXEC BAT information SET PATH
16. xtremity from the point chosen e By ordinary boundary conditions if for instance the cam has at least one straight line or parabola somewhere in its middle the spline curve starting from first point and the one ending at the last point will have one of their extremities connected to a segment with fixed speed and acceleration for each of these spline curves only one condition is still to be specified By default the not a knot extremity condition will be used by CamMaker e By implicit boundary conditions if the cam is declared as cyclic both speed and acceleration at end point will be the same as at first point giving the two additional conditions This is the default choice at start up B For mechanical reason no motor can follow a speed jump i e an infinite acceleration CamMaker will force the whole cam to be continuous for speed and of course position Moreover within all spline curve sections acceleration continuity is also ensured It means that some rules must be follow when you set constraints e In the position diagram you cannot specify a straight line from A to B and another one from B to C either point B is on the straight line A C and is therefore superfluous or segments A B and B C will form a non flat angle giving at point B some speed discontinuity e If one has specified a straight line between points B and C CamMaker will prevent any straight line specification for adjacent segments A B and C D and o
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