Modifying tables with motion segments

Online modification of tables with motion segments (zebra tables) is done directly in the table memory (shared memory) because the kernel only works with a copy of the active camming table. A maximum of 360 master and slave values pairs in the SGN32 format are defined for each table, the internal memory requirement is only 2880 bytes.

The modified table is activated by commanding MC_CamIn again. If possible, the table should be switched over in a safe area in which the slave is not moving (LINE with 0 speed). Despite standstill of the slave, synchronisation to a new table requires a phase of synchronisation to speed = 0 and balancing of the phase position. This operation can take a few cycles depending on the setting in the axis MDS. Presuming that the slave is not moving and does not have to perform phase compensation (characteristic of the safe range), synchronisation to the camming table will be completed in the time set in the axis MDS for dwelling within the speed window (usually for about 20 to 30 ms). If the slave is synchronised at standstill and the dwell time has already elapsed within the speed window, optimisation might have to take place here so as to ensure that the entire operation is completed in only a few cycles.

The range in which the slave is resynchronised should be of the LINE type. This ensures that the velocity over the entire interval is constant = 0. In the case of a polynomial, this will generally result in movement of the slave.