FC_LoadSegProfile

FC_LoadSegProfile - General Information

Overview

Type:	Function
Available as of:	V1.0.3.0
Versions:	Current version

Task

Loading a segmented profile

Description

The profiles described in iq_stMultiCamData are loaded, adapted where necessary and scaled such that, using the function FC_ProfileSegLoadById, a segmented profile is generated which is normalized to 1.

This function reserves one profile Id respectively for each segment and for the entire profile. Using the function FC_DelSegProfile, a segmented profile which has been created using the function described above can be deleted.

Interface

Output	Data type	Description
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.

Output

Data type

Description

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.

Input/Output	Data type	Description
iq_stMultiCamData	ST_MultiCam	Information on the course of the cam
iq_stSingleCamData	ST_SingleCam	Information on the segmented profile which is created from the data contained in iq_stMultiCamData.
iq_stSegProfile	ST_SegProfile	Data for the function FC_ProfileSegLoadById.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
InputParameterInvalid	BoundaryConditionInvalid	125	The boundary conditions are invalid.
InputParameterInvalid	NumberOfCamPointsRange	121	NumberOfCamPoints is outside the valid range.
InputParameterInvalid	ProfileIdInvalid	114	The ProfileId is invalid.
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	XFactorTooSmall	122	XFactor is too small.
InputParameterInvalid	YFactorTooSmall	124	YFactor is too small.
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.

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.

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.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The profile has been loaded successfully.

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.

ProfileIdInvalid

Enumeration name:	ProfileIdInvalid
Enumeration value:	114
Description:	The ProfileId is invalid.

Issue	Cause	Solution
-	The profile does not exist.	Verify the values at the inputs iq_stMultiCamData.astCamPoint[ ].diProfileId.

ProfileMemoryFull

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

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

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.

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.

YFactorTooSmall

Enumeration name:	YFactorTooSmall
Enumeration value:	124
Description:	YFactor is too small.

Issue	Cause	Solution
-	A cam profile requiring a motion of the slave axis is to be used with identical start and end points.	At the input iq_stMultiCamData.astCamPoint[i-1].etCamType, a cam profile of type ModSinCom has been applied. The value of the difference between its start point iq_stMultiCamData.astCamPoint[i-1].lrY and its end point iq_stMultiCamData.astCamPoint[i].lrY is smaller than Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam. At the input iq_stMultiCamData.astCamPoint[i-1].etCamType, a cam profile of type ModAccTrCom has been applied. The value of the difference between its start point iq_stMultiCamData.astCamPoint[i-1].lrY and its end point iq_stMultiCamData.astCamPoint[i].lrY is smaller than Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam. At the input iq_stMultiCamData.astCamPoint[i-1].etCamType, a cam profile of type HarmoComb has been applied. The value of the difference between its start point iq_stMultiCamData.astCamPoint[i-1].lrY and its end point iq_stMultiCamData.astCamPoint[i].lrY is smaller than Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam. At the input iq_stMultiCamData.astCamPoint[i-1].etCamType, a cam profile of type SinStraightComb has been applied. The value of the difference between its start point iq_stMultiCamData.astCamPoint[i-1].lrY and its end point iq_stMultiCamData.astCamPoint[i].lrY is smaller than Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam.

Issue

Cause

Solution

A cam profile requiring a motion of the slave axis is to be used with identical start and end points.

At the input iq_stMultiCamData.astCamPoint[i-1].etCamType, a cam profile of type ModSinCom has been applied. The value of the difference between its start point iq_stMultiCamData.astCamPoint[i-1].lrY and its end point iq_stMultiCamData.astCamPoint[i].lrY is smaller than Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam.

At the input iq_stMultiCamData.astCamPoint[i-1].etCamType, a cam profile of type ModAccTrCom has been applied. The value of the difference between its start point iq_stMultiCamData.astCamPoint[i-1].lrY and its end point iq_stMultiCamData.astCamPoint[i].lrY is smaller than Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam.

At the input iq_stMultiCamData.astCamPoint[i-1].etCamType, a cam profile of type HarmoComb has been applied. The value of the difference between its start point iq_stMultiCamData.astCamPoint[i-1].lrY and its end point iq_stMultiCamData.astCamPoint[i].lrY is smaller than Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam.

At the input iq_stMultiCamData.astCamPoint[i-1].etCamType, a cam profile of type SinStraightComb has been applied. The value of the difference between its start point iq_stMultiCamData.astCamPoint[i-1].lrY and its end point iq_stMultiCamData.astCamPoint[i].lrY is smaller than Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam.