FC_CamCompute

FC_CamCompute - General Information

Overview

Type:	Function
Available as of:	V1.0.0.0

NOTICE

COMPLEX FUNCTION

Contact your responsible Schneider Electric contact partner, before using function blocks of this library directly.

Failure to follow these instructions can result in equipment damage.

Other libraries, for example the PD_SmartInfeed are using the PD_SoMotionGenerator internally. It is not necessary to contact your responsible Schneider Electric contact partner when using these librariers.

Task

Evaluation of cams

Description

For the cam transferred via iq_stJob, the function provides the Y value q_lrY, the slope q_lrM and the bend q_lrK for a given X value i_lrX.

Interface

Input	Data type	Description
i_lrX	LREAL	X value on which the cam is to be evaluated.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> status message q_etDiag <> GD.ET_Diag.Ok -> diagnostic message
q_lrY	LREAL	Function value of the cam at the point i_lrX.
q_lrM	LREAL	Slope of the cam at the point i_lrX.
q_lrK	LREAL	Bend of the cam at the point i_lrX.

Input/Output	Data type	Description
iq_stJob	ST_MotionJob	Cam to be evaluated.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
InputParameterInvalid	ExtRefGenInvalid	42	The instance of the external setpoint device is invalid.
InputParameterInvalid	JobParamCamXStartXEnd	26	Job parameter stCam.lrXStart >= stCam.lrXEnd
InputParameterInvalid	JobParamJobType	14	Job parameter etJobType is outside the valid range.
UnexpectedProgramBehavior	UnexpectedFeedback	57	Unintended return value

ExtRefGenInvalid

Enumeration name:	ExtRefGenInvalid
Enumeration value:	42
Description:	The instance of the external setpoint device is invalid.

Issue	Cause	Solution
-	The connected external position generator does not support all required functionalities.	Use a position generator that supports all functionalities. The interface transferred at the variables ST_MotionJob.stPositioning.stExternalPos.ifExternalPosGenerator or ST_MotionJob.stCam.stExternalCam.ifExternalCamGenerator is invalid.

Issue

Cause

Solution

The connected external position generator does not support all required functionalities.

Use a position generator that supports all functionalities.

The interface transferred at the variables ST_MotionJob.stPositioning.stExternalPos.ifExternalPosGenerator or ST_MotionJob.stCam.stExternalCam.ifExternalCamGenerator is invalid.

JobParamCamXStartXEnd

Enumeration name:	JobParamCamXStartXEnd
Enumeration value:	26
Description:	Job parameter stCam.lrXStart >= stCam.lrXEnd

Issue	Cause	Solution
-	The assigned value of the variable stCam.lrXStart is too high.	The value of the variable stCam.lrXStart must be smaller than the value of the variable stCam.lrXEnd.

JobParamJobType

Enumeration name:	JobParamJobType
Enumeration value:	14
Description:	Job parameter etJobType is outside the valid range.

Issue	Cause	Solution
-	The assigned value of the variable ST_MotionJob.etJobType is invalid.	An element from ET_MotionJobType must be assigned to ST_MotionJob.etJobType.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The evaluation of the cam was successful.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	57
Description:	Unintended return value

Issue	Cause	Solution
-	The function FC_CalcSystemCamNorm returned an invalid value.	Please inform your Schneider Electric representative about this detected error.