ICamTable.SetTable method

Sets a cam table by setting the connections to a relevant table.

Namespace: IntervalZero.KINGSTAR.Base.Class

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

Syntax

C#VB

Task SetTable(
       bool masterAbsolute,
       bool slaveAbsolute,
       bool periodic,
       McCamInterpolationType interpolationType,
       CamPoint[] points
)

Function SetTable(
       masterAbsolute As Boolean,
       slaveAbsolute As Boolean,
       periodic As Boolean,
       interpolationType As McCamInterpolationType,
       points As CamPoint()
) As Task

Parameters

masterAbsolute

Type: bool

Chooses the absolute or relative coordinates for the master axis. 1 = absolute, 0 = relative coordinates. By default, it is 0.

Absolute coordinates: Every position is counted from zero.

Relative coordinates: The position is counted from the previous position in the table. For example, if the previous absolute position is five, and you move the master two units, the next absolute position is seven, but the relative position is two.

slaveAbsolute

Type: bool

Chooses the absolute or relative coordinates for the slave axis. 1 = absolute, 0 = relative coordinates. By default, it is 0.

Absolute coordinates: Every position is counted from zero.

Relative coordinates: The position is counted from the previous position in the table.

periodic

Type: bool

Determines whether to repeat the cam profile. 1 = periodic, 0 = non periodic (single-shot). By default, it is 0.

Periodic: Repeats the execution of the cam profile on a continuous basis, even if the cam profile doesn't match the modulo. This means that for a modulo axis with modulo is 360 degrees, and the cam profiles is specified for 90 degrees, it will be executed 4 times in a modulo. In reverse mode the profile is run the inverse way.

Non-Periodic: the cam profile is run only once. If the master moves out of the range, the slave stops following and stays at the last position in the cam table, and the slave's state is returned to StandStill. In reverse mode, the cam profile is not executed after having reached the "EndOfProfile" position. The 90 degrees example above will be run only once.

interpolationType

Type: McCamInterpolationType

Selects the motion type of cam.

points

Type: CamPoint[]

The additional parameter for the table points, depends on the interpolation type.

Linear interpolation: null.

Poly5 interpolation: it has four point types. "!=" means "not equal to."

StopPoint: Vel = 0; Acc = 0;
VelocityPoint: Vel != 0; Acc = 0;
AccelerationPoint: Vel = 0; Acc != 0;
MovePoint: Vel != 0; Acc != 0;

Return value

Type: Task

Represents an asynchronous operation.

Remarks

For more information about how a cam table works, see Concepts > Camming.
A simulated axis can be used as master axis.
The index of the cam table is a supplier-specific data type.
SetTable lets you select a cam table that contains the data to make a cam move. This includes:

Download the starting point of a cam profile.
Start to generate a cam profile.

When the Done property of IKsCommand is set, the index of the cam table is valid and ready for use in Cam.