FB_MultiCam - General Information

Overview

Type:	Function block
Available as of:	V1.0.3.0
Inherits from:	-
Implements:	-

Task

Perform the curve-based motion sequence.

Description

Function block for motion tasks that can be defined by presetting the motion processes in segments. The description of the motion sequence is stored in a structure (type ST_MultiCam). It comprises the number of motion points (diNumberOfCamPoints maximum 32), and an array of points (type ST_CamPoint). By changing the existing structure, it is possible to switch various motion sequences to event-driven (for example, start cycle, continuous cycle, stop cycle, etc.).

Cold Start

Cold start means starting at the beginning of the motion sequence.

A cold start is executed with input i_xStart = TRUE and input i_xWsSelect = FALSE. There are various options (input variables i_etCsModeSlave and i_etCsModeMaster) for the cold start.

Analytical profile application

The analytical profiles of the PacDrive controller (simple sine, inclined sine, modified sine, modified acceleration trapezoid or the polynomial of the fifth degree) can be used as Rest-Rest, Rest-Velocity and Velocity-Rest profiles.

User profile application

In addition, any user profiles can be used. The profiles must be available as “<Name>.pp3 and can then be loaded in a normal manner.

NOTE: Used user profiles must be available on the flash disk. When replacing the flash disk, make sure that all profile data are copied.

NewCam

This abort is triggered using the input Iq_xNewCam. Setting the iq_xNewCam signalizes that a new profile is to be used in the next cycle. The function block resets the input iq_xNewCam at the start of the new profile.

NewCam

NOTE: If the signal iq_xNewCam is set too late, the cam switchover is not executed at the subsequent cycle but at the one after that.

If the signal is set by an asynchronous program task, the cycle time of the task must still be added to the time in which the FB is called.

The input iq_xNewCam is only evaluated at the end of the current cam.

Example:

Program cycle time = 5 ms, SERCOS CycleTime = 2 ms, then TXend must be >= 7 ms.

InstantNewCam

If the current profile shall be interrupted to run another profile instead, this can be carried out at the master position i_lrInstantXLimMax. For this purpose, a new structure ST_MultiCam must be loaded. Also, the position, slope and curvature of both profiles must be equal for i_lrInstantXLimMax and the input iq_xInstantNewCam must be set. The function block resets the input iq_xInstantNewCam at the start of the new profile.

NOTICE

SETPOINT JUMPS

oThe iq_xInstantNewCam signal must be set before reaching the master encoder position i_lrInstantXLimMax.

oPosition, gradient and curvature of the old and new profiles must match at the master encoder position i_lrInstantXLimMax.

Failure to follow these instructions can result in equipment damage.

InstantNewCam

Interface

Input	Data type	Description
i_xEnable	BOOL	A rising edge FALSE -> TRUE activates the POU, a falling edge TRUE -> FALSE deactivates the POU. A deactivated POU does not execute any actions.
i_ifDrive	IF_Drive	Input for the axis that shall be controlled.
i_xStart	BOOL	Starts the drive motion With i_xStart = FALSE, the running cycle is stopped at the end. If the end slope of the final motion section is not zero, progress is stopped with i_lrWsAcc. Further parameters relevant for stopping (e.g. xStopPositionSelect), can be found in iq_stExt.
i_xWsSelect	BOOL	A "warm start" is executed with input i_xStart = TRUE and input i_xWsSelect = TRUE. "Warm start" means that it starts in the middle of a motion sequence (e.g., after an emergency stop). The FB orients itself to the master position and moves to the curve position. As soon as the drive position is back at the cam position, the output q_xSynActive is set. This signal can be used to start the master encoder. The master encoder must be at a standstill during "warm start". If the master encoder or axis position is outside of its period during "Warm start", it will be brought into the period (Position = Position MOD Period).
i_etCsModeSlave	ET_MultiCamCsModeSlave	Cold start mode of the slave axis
i_etCsModeMaster	ET_MultiCamCsModeMaster	Cold start mode of the master encoder.
i_etWsMode	ET_MultiCamWsMode	Warm start mode
i_lrWsWindow	LREAL	Warm start window (slave axis +/-)
i_lrWsVel	LREAL	Velocity for moving to the warm start position (slave position) in units/s.
i_lrWsAcc	LREAL	Acceleration for moving to the warm start position (slave position) in units/s².
i_lrWsJerk	LREAL	Jerk for moving to the warm start position (slave position) in units/s³.
i_xWsStart	BOOL	The input starts the motion upon the warm start if i_xWsStart = TRUE.
i_diTXEnd	DINT	Determines the setting of the outputs q_xXHighEnd and q_xXLowEnd. TXEnd is a time specification in ms. TXEnd determines the last possible takeover of the iq_xNewCam signal. TXEnd is limited to 1.5 * program cycle time. TXEnd is extended internally by one program cycle in order to ensure that q_xXHighEnd comes at least TXEnd before the end. This is only effective if the parameter iq_stExt.lrXEndWidth = 0.
i_lrInstantXLimMax	LREAL	Abort position of the current motion profile and taking over the new motion profile with iq_xInstantNewCam.

Output	Data type	Description
q_xActive	BOOL	TRUE: The POU is active and has to be executed further. FALSE: The POU is inactive.
q_xReady	BOOL	TRUE: The POU is ready to operate and can accept user commands. FALSE: The POU is not ready to accept user commands.
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to an diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[80]	Event-triggered message which gives more detailed information on the diagnostic state.
q_xInWsWindow	BOOL	The output indicates whether the slave axis is inside the defined warm start window i_lrWsWindow. q_xInWsWindow is only set in i_etWsMode 2, 3, 12 and 13 if the slave position (axis) is inside the window around the cam position. Only the current period is affected. The window is not valid for the previous or the subsequent period. The output q_xInWsWindow is only reset with the output q_xSynActive.
q_xSynActive	BOOL	TRUE: The master axis and the slave axis run synchronously (curve is active).
q_lrPositionX	LREAL	Output of the position X. (Master position)
q_lrPositionY	LREAL	Output of the position Y. (Slave position)
q_xXLowEnd	BOOL	XlowEnd signals the lower end of the curve. If iq_stExt.lrXEndWidth = 0 then the output i_diTXEnd msec is set before the lower end of the curve. If iq_stExt.lrXEndWidth > 0 then the output i_diTXEnd units is set before the lower end of the curve.
q_xXHighEnd	BOOL	XHighEnd signals the upper end of the curve. If iq_stExt.lrXEndWidth = 0 then the output i_diTXEnd msec is set before the upper end of the curve. If iq_stExt.lrXEndWidth > 0 then the output i_diTXEnd units is set before the upper end of the curve.
q_stActualCamData	ST_ActualCamData	Active travel profile data. The output returns the data of the running profile. This can be helpful when wanting to abort the running profile in order to add another profile. The data are collected in a stActualCamData structure and can be used directly as input data for the function block FB_ProfilPoint().

Input/Output	Data type	Description
iq_lencMaster	L_ENC	Input for the logical encoder which defines the master motion.
iq_stExt	ST_MultiCamExt	Contains the parameters for options.
iq_xNewCam	BOOL	Starts a new motion profile based on the current motion profile xNewCamDirectAccept = TRUE: The synchronization of the iq_xNewCam signal with q_xXLowEnd and q_xXHighEnd is canceled. iq_xNewCam is accepted immediately. The iq_xNewCam signal can therefore come later. It now is enough to set iq_xNewCam one program cycle + one SERCOS cycle before the end of the cam.
iq_xInstantNewCam	BOOL	Cancels the current motion profile with i_lrInstantXLimMax and starts a new motion profile.
iq_stMultiCamData	ST_MultiCam	Information on the course of the cam.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Disabled	9	The POU is disabled.
OK	Initializing	4	The POU is being initialized.
OK	ShowCamPosition	151	The cam position is displayed.
OK	WaitForNewCam	155	Waiting for the next cam command.
OK	WaitForStart	5	Waiting for starting command.
OK	WaitForWsStart	148	Waiting for a WsStart signal.
OK	WaitUntilCamFinished	157	Waiting until cam is finished.
OK	WaitUntilCamPositionReached	160	Waiting until cam position is reached.
OK	WaitUntilCamStarted	152	Waiting until cam is started.
OK	WaitUntilDisabled	8	Waiting until the POU is deactivated.
OK	WaitUntilFirstCamStarted	154	Waiting until the first cam has started.
OK	WaitUntilStartPositionReached	149	Waiting until start position has been reached.
OK	WaitUntilStopped	159	Waiting until the drive has stopped.
OK	WaitUntilStopPositionReached	156	Waiting until stop position has been reached.
DriveConditionInvalid	DriveNotReady	10	The drive is not ready for motion commands.
InputParameterInvalid	AccRange	12	Acc is outside the valid range.
InputParameterInvalid	BoundaryConditionInvalid	125	The boundary conditions are invalid.
InputParameterInvalid	DecRange	13	Dec is outside the valid range.
InputParameterInvalid	DriveInvalid	3	The connected drive is invalid.
InputParameterInvalid	JerkRange	14	Jerk is outside the valid range.
InputParameterInvalid	LencInvalid	162	The connected logical encoder is invalid.
InputParameterInvalid	NumberOfCamPointsRange	121	NumberOfCamPoints is outside the valid range.
InputParameterInvalid	RangeK	129	K is outside the valid range.
InputParameterInvalid	RangeM	130	M is outside the valid range.
InputParameterInvalid	UnknownCamType	126	The cam type is indeterminable.
InputParameterInvalid	UnknownCsModeMaster	164	CsModeMaster is indeterminable.
InputParameterInvalid	UnknownCsModeSlave	181	CsModeSlave is indeterminable.
InputParameterInvalid	UnknownWsMode	153	The WSMode is indeterminable.
InputParameterInvalid	VelRange	11	Vel is outside the valid range.
InputParameterInvalid	XFactorTooSmall	122	XFactor is too small.
InputParameterInvalid	YEqualCheckFailed	158	YEqualCheck was unsuccessful.
SercosConditionInvalid	SercosNotInPhaseFour	19	The Sercos bus is not in phase 4.
UnexpectedProgramBehavior	ProfileAlreadyInUse	116	The profile is already in use.
UnexpectedProgramBehavior	ProfileMemoryFull	127	The memory for tables from system profiles is full.
UnexpectedProgramBehavior	ProfileTableFull	123	The system profile table is full.
UnexpectedProgramBehavior	UnexpectedFeedback	1	An unintended detected error occurred during execution.
UnexpectedProgramBehavior	UnknownState	2	The POU is in an undefined state.
WarmStartConditionInvalid	DrivePositionOutOfWsWindow	150	The position of the drive is outside of WsWindow.
WarmStartConditionInvalid	MasterMoved	161	The master has moved.
WarmStartConditionInvalid	UserCamHasBeenDeleted	326	A user-defined Cam profile has been deleted.

AccRange

Enumeration name:	AccRange
Enumeration value:	12
Description:	Acc is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrWsAcc, an invalid value has been transferred.	The following must hold: 0 < i_lrWsAcc < drive parameter MaxAcc For the valid value range for i_lrWsAcc, see output q_sMsg
-	If iq_stExt.xStartPositionSelect = TRUE: At the iq_stExt.lrStartAcceleration, an invalid value has been transferred.	The following must hold: 0 < iq_stExt.lrStartAcceleration < parameter MaxAcc of the drive For the valid value range for iq_stExt.lrStartAcceleration, see output q_sMsg
-	If iq_stExt.xStopPositionSelect = TRUE: At the iq_stExt.lrStopAcceleration, an invalid value has been transferred.	The following must hold: 0 < iq_stExt.lrStopAcceleration < parameter MaxAcc of the drive For the valid value range for iq_stExt.lrStopAcceleration, see output q_sMsg

Issue

Cause

Solution

At the input i_lrWsAcc, an invalid value has been transferred.

The following must hold: 0 < i_lrWsAcc < drive parameter MaxAcc

For the valid value range for i_lrWsAcc, see output q_sMsg

If iq_stExt.xStartPositionSelect = TRUE: At the iq_stExt.lrStartAcceleration, an invalid value has been transferred.

The following must hold: 0 < iq_stExt.lrStartAcceleration < parameter MaxAcc of the drive

For the valid value range for iq_stExt.lrStartAcceleration, see output q_sMsg

If iq_stExt.xStopPositionSelect = TRUE: At the iq_stExt.lrStopAcceleration, an invalid value has been transferred.

The following must hold: 0 < iq_stExt.lrStopAcceleration < parameter MaxAcc of the drive

For the valid value range for iq_stExt.lrStopAcceleration, see output q_sMsg

BoundaryConditionInvalid

Enumeration name:	BoundaryConditionInvalid
Enumeration value:	125
Description:	The boundary conditions are invalid.

Issue	Cause	Solution
-	When defining the motion profile in iq_stMultiCamData, the set boundary conditions cannot be complied with.	Verify the definition of the motion profile and particularly the boundary conditions of the sub-segments. As an alternative, select different profiles for the sub-segments to be able to comply with all desired boundary conditions.

Issue

Cause

Solution

When defining the motion profile in iq_stMultiCamData, the set boundary conditions cannot be complied with.

Verify the definition of the motion profile and particularly the boundary conditions of the sub-segments.

As an alternative, select different profiles for the sub-segments to be able to comply with all desired boundary conditions.

DecRange

Enumeration name:	DecRange
Enumeration value:	13
Description:	Dec is outside the valid range.

Issue	Cause	Solution
-	If iq_stExt.xStartPositionSelect = TRUE: At the iq_stExt.lrStartDeceleration, an invalid value has been transferred.	The following must hold: 0 < iq_stExt.lrStartDeceleration < parameter MaxAcc of the drive For the valid value range for iq_stExt.lrStartDeceleration, see output q_sMsg
-	If iq_stExt.xStopPositionSelect = TRUE: At the iq_stExt.lrStopDeceleration, an invalid value has been transferred.	The following must hold: 0 < iq_stExt.lrStopDeceleration < parameter MaxAcc of the drive For the valid value range for iq_stExt.lrStopDeceleration, see output q_sMsg

Issue

Cause

Solution

If iq_stExt.xStartPositionSelect = TRUE: At the iq_stExt.lrStartDeceleration, an invalid value has been transferred.

The following must hold: 0 < iq_stExt.lrStartDeceleration < parameter MaxAcc of the drive

For the valid value range for iq_stExt.lrStartDeceleration, see output q_sMsg

If iq_stExt.xStopPositionSelect = TRUE: At the iq_stExt.lrStopDeceleration, an invalid value has been transferred.

The following must hold: 0 < iq_stExt.lrStopDeceleration < parameter MaxAcc of the drive

For the valid value range for iq_stExt.lrStopDeceleration, see output q_sMsg

Disabled

Enumeration name:	Disabled
Enumeration value:	9
Description:	The POU is disabled.

The function block is disabled and executes no actions whatsoever. i_xEnable and q_xActive are set to FALSE

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	3
Description:	The connected drive is invalid.

Issue	Cause	Solution
-	At the input i_ifDrive, no drive was applied.	At the input i_ifDrive, a valid drive must be transferred.
-	The connected drive does not support all required functionalities.	Establish which functionalities are not supported by the drive by means of output q_sMsg. Use a drive which supports all required functionalities.

Issue

Cause

Solution

At the input i_ifDrive, no drive was applied.

At the input i_ifDrive, a valid drive must be transferred.

The connected drive does not support all required functionalities.

Establish which functionalities are not supported by the drive by means of output q_sMsg.

Use a drive which supports all required functionalities.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	10
Description:	The drive is not ready for motion commands.

Issue	Cause	Solution
-	The axis is not in position control.	Verify the state of the axis.

DrivePositionOutOfWsWindow

Enumeration name:	DrivePositionOutOfWsWindow
Enumeration value:	150
Description:	The position of the drive is outside of WsWindow.

Issue	Cause	Solution
-	The axis has been moved beyond i_WsWindow while switched off.	Move the axis back into the warm start window. Extend the limits of the warm start window. Perform a cold start.

Issue

Cause

Solution

The axis has been moved beyond i_WsWindow while switched off.

Move the axis back into the warm start window.

Extend the limits of the warm start window.

Perform a cold start.

Initializing

Enumeration name:	Initializing
Enumeration value:	4
Description:	The POU is being initialized.

The function block is being initialized and thus is not yet ready to receive commands at its inputs.

The function block will signalize that it is ready for operation with the signal q_xReady = TRUE.

JerkRange

Enumeration name:	JerkRange
Enumeration value:	14
Description:	Jerk is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrWsJerk, an invalid value has been applied.	At the input i_lrWsJerk, a value greater than 0 and smaller than or equal to Gc_lrMaxJerk must be transferred.
-	The input iq_stExt.xStartPositionSelect has been set to TRUE and at the input iq_stExt.lrStartJerk, an invalid value has been transferred.	At the input iq_stExt.lrStartJerk, a value greater than 0 and smaller than or equal to Gc_lrMaxJerk must be transferred. Do not move to a start position by setting iq_stExt.xStartPositionSelect to FALSE.
-	The input iq_stExt.xStopPositionSelect has been set to TRUE and at the input iq_stExt.lrStopJerk, an invalid value has been transferred.	At the input iq_stExt.lrStopJerk, a value greater than 0 and smaller than or equal to Gc_lrMaxJerk must be transferred. Do not move to a stop position by setting iq_stExt.xStopPositionSelect to FALSE.

Issue

Cause

Solution

At the input i_lrWsJerk, an invalid value has been applied.

At the input i_lrWsJerk, a value greater than 0 and smaller than or equal to Gc_lrMaxJerk must be transferred.

The input iq_stExt.xStartPositionSelect has been set to TRUE and at the input iq_stExt.lrStartJerk, an invalid value has been transferred.

At the input iq_stExt.lrStartJerk, a value greater than 0 and smaller than or equal to Gc_lrMaxJerk must be transferred.

Do not move to a start position by setting iq_stExt.xStartPositionSelect to FALSE.

The input iq_stExt.xStopPositionSelect has been set to TRUE and at the input iq_stExt.lrStopJerk, an invalid value has been transferred.

At the input iq_stExt.lrStopJerk, a value greater than 0 and smaller than or equal to Gc_lrMaxJerk must be transferred.

Do not move to a stop position by setting iq_stExt.xStopPositionSelect to FALSE.

LencInvalid

Enumeration name:	LencInvalid
Enumeration value:	162
Description:	The connected logical encoder is invalid.

Issue	Cause	Solution
-	At the input iq_lencEncoder, no encoder has been applied.	At the input iq_lencEncoder, a separate logical encoder must be transferred.

MasterMoved

Enumeration name:	MasterMoved
Enumeration value:	161
Description:	The master has moved.

Issue	Cause	Solution
-	The master has moved during the warm start.	Ensure that the master does not move during the warm start motion.

NumberOfCamPointsRange

Enumeration name:	NumberOfCamPointsRange
Enumeration value:	121
Description:	NumberOfCamPoints is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stMultiCamData.diNumberOfCamPoints, an invalid value has been transferred.	At the input iq_stMultiCamData.diNumberOfCamPoints, a value greater than 0 and smaller than or equal to SystemInterface.MAX_NO_OF_SEG + 1 must be transferred.

ProfileAlreadyInUse

Enumeration name:	ProfileAlreadyInUse
Enumeration value:	116
Description:	The profile is already in use.

Issue	Cause	Solution
-	The motion profile is already in use.	Verify the motion data.

ProfileMemoryFull

Enumeration name:	ProfileMemoryFull
Enumeration value:	127
Description:	The memory for tables from system profiles is full.

Issue	Cause	Solution
-	The system profile memory is full.	Delete any profiles that are no longer needed using the SystemInterface.FC_ProfileDelete function

ProfileTableFull

Enumeration name:	ProfileTableFull
Enumeration value:	123
Description:	The system profile table is full.

Issue	Cause	Solution
-	The maximum number of system profiles has been exceeded.	Delete any profiles that are no longer needed using the SystemInterface.FC_ProfileDelete function

RangeK

Enumeration name:	RangeK
Enumeration value:	129
Description:	K is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stMultiCamData.astCamPoint[ ].lrK, an invalid value has been applied.	Verify the values for iq_stMultiCamData.astCamPoint[ ].lrK

RangeM

Enumeration name:	RangeM
Enumeration value:	130
Description:	M is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stMultiCamData.astCamPoint[ ].lrM, an invalid value has been applied.	Verify the values for iq_stMultiCamData.astCamPoint[ ].lrM

SercosNotInPhaseFour

Enumeration name:	SercosNotInPhaseFour
Enumeration value:	19
Description:	The Sercos bus is not in phase 4.

Issue	Cause	Solution
-	The parameter State of the SERCOS bus is not 4.	Set the SERCOS bus parameter PhaseSet to 4. Verify the SERCOS bus for errors.

Issue

Cause

Solution

The parameter State of the SERCOS bus is not 4.

Set the SERCOS bus parameter PhaseSet to 4.

Verify the SERCOS bus for errors.

ShowCamPosition

Enumeration name:	ShowCamPosition
Enumeration value:	151
Description:	The cam position is displayed.

At output q_lrPositionY, the cam position is displayed.

UnexpectedFeedback

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.

UnknownCamType

Enumeration name:	UnknownCamType
Enumeration value:	126
Description:	The cam type is indeterminable.

Issue	Cause	Solution
-	The cam type of a point iq_stMultiCamData.astCamPoint is assigned with an invalid cam profile.	The cam types etCamType of all used cam points at the input iq_stMultiCamData.astCamPoint must be assigned with an element of the enumeration ET_CamType.

UnknownCsModeMaster

Enumeration name:	UnknownCsModeMaster
Enumeration value:	164
Description:	CsModeMaster is indeterminable.

Issue	Cause	Solution
-	At the input i_etCsModeMaster, an invalid value has been transferred.	At the input i_etCsModeMaster, an element of the enumeration ET_MultiCamCsModeMaster must be transferred.

UnknownCsModeSlave

Enumeration name:	UnknownCsModeSlave
Enumeration value:	181
Description:	CsModeSlave is indeterminable.

Issue	Cause	Solution
-	At the input i_etCsModeSlave, an invalid value has been transferred.	At the input i_etCsModeSlave, an element of the enumeration ET_MultiCamCsModeSlave must be transferred.

UnknownState

Enumeration name:	UnknownState
Enumeration value:	2
Description:	The POU is in an undefined state.

Issue	Cause	Solution
-	An error occurred in the internal execution.	Please inform the support team about this error.

UnknownWsMode

Enumeration name:	UnknownWsMode
Enumeration value:	153
Description:	The WSMode is indeterminable.

Issue	Cause	Solution
-	At the input i_etWSMode, an invalid value has been applied.	At the input i_etWSMode, elements of the enumeration ET_MultiCamWsMode must be applied.

UserCamHasBeenDeleted

Enumeration name:	UserCamHasBeenDeleted
Enumeration value:	326
Description:	A user-defined Cam profile has been deleted.

Issue	Cause	Solution
-	An active Cam profile has been deleted by calling SystemInterface.FC_ProfileDelete().	Verify that Cam profiles are available when being executed.

VelRange

Enumeration name:	VelRange
Enumeration value:	11
Description:	Vel is outside the valid range.

Issue

Cause

Solution

The axis cannot reach the warm start velocity.

Apply a value to i_lrWsVel which is smaller than the axis parameter MaxVel.

The axis cannot reach the velocity of the start motion.

Apply a value to iq_stExt.lrStartVelocity which is smaller than the axis parameter MaxVel.

Set iq_stExt.xStartPositionSelect to FALSE so that no start motion is executed.

The axis cannot reach the velocity of the stop motion.

Apply a value to iq_stExt.lrStopVelocity which is smaller than the axis parameter MaxVel.

Set iq_stExt.xStopPositionSelect to FALSE so that no stop motion is executed.

WaitForNewCam

Enumeration name:	WaitForNewCam
Enumeration value:	155
Description:	Waiting for the next cam command.

The cams are moved according to their task sequence.

WaitForStart

Enumeration name:	WaitForStart
Enumeration value:	5
Description:	Waiting for starting command.

The function block has completed its initialization and is waiting for a positive edge at the input i_xStart before continuing the processing.

WaitForWsStart

Enumeration name:	WaitForWsStart
Enumeration value:	148
Description:	Waiting for a WsStart signal.

After a signal at the input i_xWsStart, the warm start motion is started.

WaitUntilCamFinished

Enumeration name:	WaitUntilCamFinished
Enumeration value:	157
Description:	Waiting until cam is finished.

The axis moves on until the end of the current cam is reached.

WaitUntilCamPositionReached

Enumeration name:	WaitUntilCamPositionReached
Enumeration value:	160
Description:	Waiting until cam position is reached.

The axis is moved to its position on the cam.

WaitUntilCamStarted

Enumeration name:	WaitUntilCamStarted
Enumeration value:	152
Description:	Waiting until cam is started.

The function block waits for the cam to be moved.

WaitUntilDisabled

Enumeration name:	WaitUntilDisabled
Enumeration value:	8
Description:	Waiting until the POU is deactivated.

The function block is disabled. All internal states are reset and connected resources (e.g. axes) are transferred to a safe state. The function block has to be called up continuously until it reports q_xActive = FALSE.

WaitUntilFirstCamStarted

Enumeration name:	WaitUntilFirstCamStarted
Enumeration value:	154
Description:	Waiting until the first cam has started.

The function block waits for the first cam to be started.

WaitUntilStartPositionReached

Enumeration name:	WaitUntilStartPositionReached
Enumeration value:	149
Description:	Waiting until start position has been reached.

The axis is moved to its start position.

WaitUntilStopped

Enumeration name:	WaitUntilStopped
Enumeration value:	159
Description:	Waiting until the drive has stopped.

The axis is stopped.

WaitUntilStopPositionReached

Enumeration name:	WaitUntilStopPositionReached
Enumeration value:	156
Description:	Waiting until stop position has been reached.

The axis is moved to its stop position and comes to a halt there.

XFactorTooSmall

Enumeration name:	XFactorTooSmall
Enumeration value:	122
Description:	XFactor is too small.

Issue	Cause	Solution
-	Two successive cam points iq_stMultiCamData.astCamPoint[ ].lrX have a distance of less than 0.1 units.	Verify the definition of the cam and, if necessary, remove cam profiles that are too short.

YEqualCheckFailed

Enumeration name:	YEqualCheckFailed
Enumeration value:	158
Description:	YEqualCheck was unsuccessful.

Issue

Cause

Solution

If iq_stExt.xYEqualCheck = TRUE: The verification on whether the new cam directly follows the old cam was unsuccessful.

Configure the new cam such that its start deviates by less than 0.0001 units from the end of the old cam.

Deactivate the verification by setting iq_stExt.xYEqualCheck = FALSE.

Methods

Name	Description
RegisterLoggerPoint	The method registers the internal logger point in the Application Logger.