L_MC2P_BoundsCam
This FB calculates the maximum and minimum values of the position, velocity and acceleration of the slave axis from the transmitted cam data.
- udiNumOfPoints serves to define to what extent the profile is to be discretised.
- udiPointsPerCycle serves to define the number steps to be calculated within one cycle.
- After the complete profile has been passed through, the extreme values are output.
|
|
|
|
L_MC2P_BoundsCam |
|
|
|
|
|---|---|---|---|---|---|---|---|
|
AXIS_REF |
- |
|
Slave |
xDone |
|
|
BOOL |
|
MC_CAM_REF |
- |
|
itfCamTable |
xBusy |
|
|
BOOL |
|
BOOL |
- |
|
xExecute |
xError |
|
|
BOOL |
|
LREAL |
- |
|
lrMaVel |
eErrorID |
|
|
L_IE1P_Error |
|
LREAL |
- |
|
lrMaAcc |
lrPosMax |
|
|
LREAL |
|
UDINT |
- |
|
udiNumOfPoints |
lrPosMin |
|
|
LREAL |
|
UDINT |
- |
|
udiPointsPerCycle |
lrVelMax |
|
|
LREAL |
|
|
|
|
|
lrVelMin |
|
|
LREAL |
|
|
|
|
|
lrAccDecMax |
|
|
LREAL |
|
|
|
|
|
lrAccDecMin |
|
|
LREAL |
|
|
|
|
|
|
|
|
|
Inputs/outputs
|
Name Data type |
Information/possible settings |
|
|---|---|---|
|
Slave |
Transfer of the axis data structure of the slave axis |
|
Motion axes (AXIS_REF)
Inputs
|
Name Data type |
Information/possible settings |
|
|---|---|---|
|
itfCamTable MC_CAM_REF |
Cam data structure to be checked |
|
|
Slave |
Transfer of the axis data structure of the slave axis |
|
|
xExecute BOOL |
FALSE รค TRUE |
Start calculation. |
|
lrMaVel LREAL |
Rated velocity of the master axis for calculation |
|
|
lrMaAcc LREAL |
Rated acceleration of the master axis for calculation |
|
|
udiNumOfPoints UDINT |
Number of points the cam is divided into. |
|
|
udiPointsPerCycle UDINT |
Number of points calculated with a cycle.
|
|
Outputs
|
Name Data type |
Value/meaning |
|
|---|---|---|
|
xDone BOOL |
TRUE |
Calculation is completed. |
|
xBusy BOOL |
TRUE |
Processing is running. |
|
xError BOOL |
TRUE |
An error has occurred. For details see eErrorID . |
|
eErrorID |
If xError = TRUE: Error number for the error that has occurred.
|
|
|
lrPosMax LREAL |
Maximum slave position |
|
|
lrPosMin LREAL |
Minimum slave position |
|
|
lrVelMax LREAL |
Maximum slave velocity |
|
|
lrVelMin LREAL |
Minimum slave velocity |
|
|
lrAccDecMax LREAL |
Maximum slave acceleration |
|
|
lrAccDecMin LREAL |
Minimum slave acceleration |
|