MC_CamIn (FB)

FUNCTION_BLOCK MC_CamIn

The function block implements a selected cam plate.

InOut:

Scope	Name	Type	Initial	Comment
Inout	Master	AXIS_REF_SM3		Reference to master axis. Master need not be stationary.
Inout	Slave	AXIS_REF_SM3		Reference to slave axis
Input	Execute	BOOL		Rising edge: Starts the execution of the function block.
	MasterOffset	LREAL		Offset on master table
	SlaveOffset	LREAL		Offset on slave table Mechanical analogy to the slave offset is a cam plate, which is welded with additional constant layer thickness. Therefore slave positions have a constant offset. The offset can be interpreted as an axis offset of the master axis on the assumption that the slave cam is linearly guided.
	MasterScaling	LREAL	1	Scaling factor for master profile
	SlaveScaling	LREAL	1	Scaling factor for slave profile
	StartMode	MC_StartMode	absolute	Start mode Possible values: absolute : Cam plate is positioned absolutely with respect to the current master and slave position. relative : Cam plate is positioned relative to the current master and slave position. ramp_in ramp_in_pos ramp_in_neg It is advisable to observe the “General notes on cam plates”.
	CamTableID	MC_CAM_ID		Identification of the cam plate. The input is connected with the output of the instance of MC_CamTableSelect. Hint: While the function block is in operation, the change of this input behaves like a new start of the function block, caused by a rising edge on Execute.
	VelocityDiff	LREAL		Maximum velocity difference for ramp_in mode in [u/s]
	Acceleration	LREAL		Acceleration for ramp_in mode in [u/s²]
	Deceleration	LREAL		Deceleration for ramp_in mode in [u/s²]
	Jerk	LREAL		Jerk for ramp_in mode in [u/s³]
	TappetHysteresis	LREAL		Size of the hysteresis for tappets in [u]. A positive value means that the tappet cannot fire immediately after it has fired. The master position first needs to move away from the tappet by more than the value given for TappetHysteresis. For example, if the master is an encoder, the master position may oscillate by a few increments around the tappet position. Without a hysteresis, the tappet may fire all the time.
Output	InSync	BOOL		Cam has been engaged for the first time.
	Busy	BOOL
	CommandAborted	BOOL		Command has been aborted by another command
	Error	BOOL		TRUE: Error has occured within the function block.
	ErrorID	SMC_ERROR		Error identification
	EndOfProfile	BOOL		Pulsed output: Cyclic end of the cam profile.
	Tappets	SMC_TappetData		Tappets: Has to be evaluated by SMC_GetTappetValue function blocks.

MC_CamIn.DoBeforeLeave (ACT)