FC_InitCamPointAdvanced - General Information
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Type: |
Function |
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Available as of: |
V1.1.0.0 |
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Support for: |
PacDrive3 pilot template architecture |
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Versions: |
Current version |
Function for initialization of an axis that is controlled by the FB_AxisModule function block.
This function is used to assign advance values to a cam point. It also assigns the cam point to a MultiCam table. The table is specified with i_etParId and the axis is specified with iq_stAxisModuleItf. Use the FC_InitCamPoint function if you do not need the advance parameters.
This function returns the MultiCam table number (i_etParId) to allow multiple interfaces to be specified as shown below. The function returns -1 if the specified MultiCam table number is not 0, 1, 2, 3, or 4.
Each interface requires a unique number specified by i_diCamPoint. The first cam point is set to 0, the second 1, and so forth up to 32. The total quantity of cam points for a MultiCam table is automatically set.
The i_etCamType input specifies the cam to follow to the next motion point and the PDL.ET_CamType enumeration contains all the possible cam types as follows:
The straight component of a curve is defined by setting the i_lrC input. The linear component of the resulting rule is 1 – i_lrC, which means that a rule with i_lrC = 1 contains no linear component and is therefore equal to the initial rule, a rule with i_lrC = 0.7 has a linear component of 30 % and so on. The valid range of value for i_lrC is of 0,0001 up to 1.
The turning point of a curve is specified with the i_lrLambda input and the straight component of a curve is specified with the i_lrC input. These parameters are used to control the shape of a curve.
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Input |
Data type |
Description |
|---|---|---|
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i_etParId |
ET_ParId |
Specifies which MultiCam table this cam point belongs to |
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i_diCamPoint |
DINT |
Specifies which cam point this is (0 to 32) |
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i_lrMasterPosition |
LREAL |
Specifies the master’s position at this cam point in units |
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i_lrSlavePosition |
LREAL |
Specifies the axis’s position at this cam point in units |
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i_lrSlope |
LREAL |
Specifies the slope of the curve at this cam point (Horizontal line = 0, 45 degree line = 1) |
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i_etCamType |
PDL.ET_CamType |
Specifies the type of curve used to connect to the next cam point |
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i_lrK |
LREAL |
Specifies the second derivative of the cam at the start point for a poly5com curve |
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i_lrLambda |
LREAL |
Specifies the turning point of a curve |
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i_lrC |
LREAL |
Specifies the straight component of a curve |
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i_lrYUser |
LREAL |
Specifies the Y position for a user curve |
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i_lrYUserOffset |
LREAL |
Specifies an offset of the Y values for a user curve |
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i_diProfilId |
DINT |
Specifies a number used to identify a segment of a user curve |
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Output |
Data type |
Description |
|---|---|---|
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FC_InitCamPointAdvanced |
DINT |
Returns the MultiCam table number (i_etParId)) or -1 if the specified MultiCam table number is not 0, 1, 2, 3, or 4. |
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Input/Output |
Data type |
Description |
|---|---|---|
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iq_stAxisModuleItf |
The axis interface structure of the associated axis |
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