MC_CamIn

Function block MC_CamIn
Links the axes and starts to cam.
VAR_IN_OUT
B MasterIn AXIS_REF Reference to the master axis.
B SlaveIn AXIS_REF Reference to the slave axis. The number of slaves is up to 32.
V CamTableIn CAM_REF The index of a cam table. Indexes are zero based.
VAR_INPUT
B Execute BOOL Starts camming at rising edge.
E ContinuousUpdate BOOL

If TRUE, when the function block (FB) is running and the values of the parameters are updated, the FB will use the new value. If FALSE, the FB won't use the new value.

NOTE:  This parameter is not supported.
V Permanent BOOL

Determines whether the cam state is preserved after the motor is disabled.

TRUE: the cam state is preserved even if the motor is disabled. For example, if the master axis is enabled, the slave axis will be enabled. If an error has occurred on the master, it occurred on the slave too.

FALSE: the cam state won't be preserved after the motor is disabled.
E MasterOffset LREAL Offset to the positions of the master axis in the cam table.
E SlaveOffset LREAL Offset to the positions of the slave axis in the cam table.
E MasterScaling LREAL Factor for the master profile (default = 1.0). From the slave point of view the overall master profile is multiplied by this factor.
E SlaveScaling LREAL Factor for the slave profile (default = 1.0). The overall slave profile is multiplied by this factor.
E StartMode MC_CamStartMode The cam mode your axes use.
V StartParameter LREAL Depends on the start ramp you choose. If it is camRampDistance, StartParameter is the distance the slave moves. The unit is count. If it is camRampTime, StartParameter is the time the slaves takes to move. The unit is second. This parameter uses the master's information to determine how to move the slave. The distance is based on how far the master moves.
E MasterValueSource MC_Source

Defines the source for synchronization:

  • mcSetValue – synchronization on master set value. We suggest you use these settings.
  • mcActualValue – synchronization on master actual value. This setting may not be stable.
  • mcSecondEncoderValue – actual value of the secondary encoder of the axis.

    • NOTE:  mcSecondEncoderValue is not supported yet.
E BufferMode MC_BufferMode Defines how to blend the velocity of two function blocks.
VAR_OUTPUT
B InSync BOOL

Used for camRamp. For more information about camRamp, see the MC_CamStartMode type.

TRUE: the synchronization is completed.

FALSE: the slave axis is synchronizing with the master axis.
E Busy BOOL The function block is not finished and new output values are to be expected.
E Active BOOL The function block is controlling the axis.
E CommandAborted BOOL The command is aborted by another command.
B Error BOOL Signals that an error has occurred within the function block.
E ErrorID MC_Error Error identification.
E EndOfProfile BOOL The camming is done.
  • For more information about how a cam works, see Camming.
  • It is not required that the master is stationary.
  • If the actual master and slave positions do not correspond to the offset values when MC_CamIn is run, either an error occurs or the system deals with the difference automatically.
  • This FB is not merged with the MC_CamTableSelect FB, because this separation enables changes on the fly.
  • A mechanical analogy to a slave offset is a cam welded with additional constant layer thickness. Because of this, the slave positions have a constant offset and the offset could be interpreted as axis offset of the master shaft, if linear guided slave tappets are assumed.

 

  MC_CamIn  
AXIS_REF   MasterIn   Master   AXIS_REF
AXIS_REF   SlaveIn   Slave   AXIS_REF
CAM_REF   CamTableIn   CamTable   CAM_REF
BOOL   Execute   InSync   BOOL
BOOL   ContiunousUpdate   Busy   BOOL
BOOL   Permanent   Active   BOOL
LREAL   MasterOffset   CommandAborted   BOOL
LREAL   SlaveOffset   Error   BOOL
LREAL   MasterScaling   ErrorID   MC_Error
LREAL   SlaveScaling   EndOfProfile   BOOL
MC_CamStartMode   StartMode        
LREAL   StartParameter        
MC_Source   MasterValueSource        
MC_BufferMode   BufferMode