FC_ProfilePoint - General Information
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Type: |
Function |
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Available as of: |
V1.0.3.0 |
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Versions: |
Current version |
Determine the slave position, slope, and bend of a curve to any desired slave position.
The function FC_ProfilPoint serves to determine the position, gradient and curvature of a cam at any point. The determination is carried out via three points i_lrXPos - (i_lrXFactor / 10000.0), i_lrXPos and i_lrXPos + (i_lrXFactor / 10000.0); gradient and curvature are calculated as the difference of the three points.
i_lrXPos must be at least (i_lrXFactor / 10000.0) away from the edge of the cam.
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Input |
Data type |
Description |
|---|---|---|
|
i_diProfileId |
DINT |
Id of the underlying profile |
|
i_lrXPos |
LREAL |
Master encoder position for which the slave axis position is to be determined |
|
i_lrXFactor |
LREAL |
Scaling factor of the master encoder |
|
i_lrYFactor |
LREAL |
Scaling factor of the slave axis |
|
i_lrXOffset |
LREAL |
Offset of the master encoder position |
|
i_lrYOffset |
LREAL |
Offset of the slave axis position |
|
Output |
Data type |
Description |
|---|---|---|
|
q_etDiag |
General library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to an diagnostic message. |
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|
q_etDiagExt |
POU-specific output on the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message |
|
|
q_lrYPos |
LREAL |
Position of the slave axis for the master encoder position i_lrXPos |
|
q_lrM |
LREAL |
Gradient of the slave axis cam at the master encoder position i_lrXPos In order to determine the velocity of the slave axis, multiply this value with the velocity of the master axis. |
|
q_lrK |
LREAL |
Curvature of the slave axis cam at the master encoder position i_lrXPos In order to determine the acceleration of the slave axis, multiply this value with the square of the velocity of the master axis. |
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q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
|---|---|---|---|
|
OK |
0 |
Ok |
|
|
InputParameterInvalid |
114 |
The ProfileId is invalid. |
|
|
InputParameterInvalid |
115 |
XFactor is outside the valid range. |
|
|
UnexpectedProgramBehavior |
116 |
The profile is already in use. |
|
|
UnexpectedProgramBehavior |
1 |
An unintended detected error occurred during execution. |
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Enumeration name: |
Ok |
|
Enumeration value: |
0 |
|
Description: |
Ok |
The motion data for the slave point have been calculated successfully.
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Enumeration name: |
ProfileAlreadyInUse |
|
Enumeration value: |
116 |
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Description: |
The profile is already in use. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The motion profile is already in use. |
Verify the motion data. |
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Enumeration name: |
ProfileIdInvalid |
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Enumeration value: |
114 |
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Description: |
The ProfileId is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The profile does not exist. |
Verify the value at the input i_diProfileId. |
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Enumeration name: |
UnexpectedFeedback |
|
Enumeration value: |
1 |
|
Description: |
An unintended detected error occurred during execution. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An error occurred in the internal execution. |
Please inform the support team about this error. |
|
Enumeration name: |
XFactorRange |
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Enumeration value: |
115 |
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Description: |
XFactor is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
At the input i_lrXFactor, a value 0 has been applied. |
i_lrXFactor must not be 0. |
