IAxis.CyclicSwitch method

Uses an axis' position to control a switch that triggers a digital output repeatedly. When an axis reaches a certain position, a switch is turned on or off. A switch can be controlled by a forward and backward movement of an axis.

Namespace: IntervalZero.KINGSTAR.Base.Class

Assembly: IntervalZero.KINGSTAR.Base.Class (in IntervalZero.KINGSTAR.Base.dll) Version: 4.4.0.0

Syntax

C#VB

void DigitalCamSwitch(
       McOutput output,
       double startPosition,
       McCamSwitch cyclicSwitch,
       McLengthType intervalType,
       double interval,
       McLengthType durationType,
       double duration,
       McSource valueSource
)

Sub DigitalCamSwitch(
       output As McOutput,
       startPosition As Double,
       cyclicSwitch As McCamSwitch,
       intervalType As McLengthType,
       interval As Double,
       durationType As McLengthType,
       duration As Double,
       valueSource As McSource
)

Parameters

output

Type: McOutput

Selects which digital output will be controlled by the corresponding track.

startPosition

Type: double

The position from which the switch is on.

cyclicSwitch

Type: McCamSwitch

Controls the switching actions.

TrackNumber: must be zero.
FirstOnPosition: must be nonnegative. It is the distance relative to the each cycle’s starting position.
LastOnPosition: must be positive and greater than FirstOnPosition. It is the distance to the each cycle’s starting position.
Duration: must be positive.

intervalType

Type: McLengthType

The type of interval. mcDistance and mcTime can be used.

interval

Type: double

The length of a cycle. It depends on the intervalType you select. This value must be positive.

durationType

Type: McLengthType

The type of duration. mcDistance and mcCount can be used.

duration

Type: double

The duration over which the cycle repeats. It depends on the durationType you select.

valueSource

Type: McSource

Defines the source for axis values. For example, positions:

mcCommandedValue, mcSetValue – synchronization on set value. We suggest you use these settings.
mcActualValue – synchronization on actual value. This setting may not be stable.
mcSecondEncoderValue – the actual value read from the second encoder.

Remarks

McCamSwitch is a vendor-specific structure that defines switches for digital cam.
McOutput is a vendor-specific structure linked to the (physical) outputs. If you are using your servo drive's digital output (DO), you need to use the ISubsystem.AxisOutput property before the ISubsystem.Start method.
In the McCamSwitch class, when CamSwitchMode is Position, the following combinations are not supported:intervalType: mcTime, durationType: mcDistance.
- intervalType: mcTime, durationType: mcCount.

Use cases:

The following cases are in the RT/Win32 interface, but they help you understand how a cyclic switch work.

Case 1

A cyclic switch completes its task for the duration.

McOutput outputBit = {
   FALSE,   //Axis or IO module. FALSE = I/O.
   0,       //Index
   0        //Offset
}

McCamSwitch cyclicSwitch = {
   0,    //TrackNumber
   40,   //FirstOnPosition 
   60,   //LastOnPosition
   1,    //AxisDirection. 1 = Positive.
   0,    //CamSwitchMode. 0 = Position.
   0     //Duration. It is not used in this case.
);

Command = SetAxisCyclicSwitch(
   TargetAxis,    //Index
   outputBit,     //Output
   100,           //StartPosition
   cyclicSwitch,  //CyclicSwitch
   mcDistance,    //IntervalType
   100,           //Interval
   mcDistance,    //DurationType
   250,           //Duration
   mcSetValue     //ValueSource
);

Case 2

A cyclic switch is aborted before it completes the task.

McOutput outputBit = {
   FALSE,   //Axis or IO module. FALSE = I/O.
   0,       //Index
   0        //Offset
}

McCamSwitch cyclicSwitch = {
   0,        //TrackNumber
   0,        //FirstOnPosition
   0,        //LastOnPosition
   1,        //AxisDirection. 1 = Positive.
   1,        //CamSwitchMode. 1 = Time.
   0.003     //Duration
);

Command = SetAxisCyclicSwitch(
   TargetAxis,    //Index
   outputBit,     //Output
   100,           //StartPosition
   cyclicSwitch,  //CyclicSwitch
   mcTime,        //IntervalType
   0.005,         //Interval
   mcCount,       //DurationType
   3,             //Duration
   mcSetValue     //ValueSource
);