MC_CamIn

This FB serves to execute a provided cam.

For clutching to the master axis, the slave axis carries out a compensating movement.

Various modes are available for the clutch-in process.

For master and slave axis, an extension/compression and offset can be activated.

Only the slave axis is moved with this FB, not the master axis.

		MC_CamIn
AXIS_REF	-	Master	InSync	-	BOOL
AXIS_REF	-	Slave	Busy	-	BOOL
BOOL	-	Execute	Active	-	BOOL
BOOL	-	ContinuousUpdate	CommandAborted	-	BOOL
BOOL	-	DirectChange	Error	-	BOOL
LREAL	-	MasterOffset	ErrorID	-	L_IE1P_Error
LREAL	-	SlaveOffset	EndOfProfile	-	BOOL
LREAL	-	MasterScaling
LREAL	-	SlaveScaling
LREAL	-	MasterStartDistance
LREAL	-	MasterSyncPosition
LREAL	-	ClutchTime
LREAL	-	VelocityDiff
LREAL	-	Acceleration
LREAL	-	Decelerartion
LREAL	-	Jerk
MC_START_MODE	-	StartMode
L_MC2P_ ScalingOffsetMode	-	ScalingOffsetMode
MC_SOURCE	-	MasterValueSource
BOOL	-	Periodic
BOOL	-	MasterAbsolute
BOOL	-	SlaveAbsolute
MC_CAM_REF	-	CamTable
MC_BUFFER_MODE	-	BufferMode

Inputs

Name Data type	Information/possible settings
master AXIS_REF	Transfer of the axis data structure of the master axis Motion axes (AXIS_REF)
Slave AXIS_REF	Transfer of the axis data structure of the slave axis Motion axes (AXIS_REF)
Execute BOOL	FALSE ä TRUE	Clutch in slave axis and execute cam. The clutch-in process only starts if master and slave axis are enabled for movements.
ContinuousUpdate BOOL	Continuous acceptance of the parameters Control input ContinuousUpdate
FALSE	The pending parameters are accepted with a rising edge at Execute .
TRUE	The pending parameters are accepted continuously, i.e. during the execution the parameters may change.
DirectChange BOOL	TRUE	An immediate cam replacement is permitted.
MasterOffset LREAL	Offset in [unit] for shifting the master position First, it is scaled and then the offset is added. Default setting: 0
SlaveOffset LREAL	Offset in [unit] for shifting the slave position First, it is scaled and then the offset is added. Default setting: 0
MasterScaling LREAL	Factor for rescaling the master axis Default setting: 1 Note: The factor must not become negative!
SlaveScaling LREAL	Factor for rescaling the slave axis Default setting: 1 Note: The factor must not become negative!
MasterStartDistance LREAL	Distance via which the clutch-in process is executed.
MasterSyncPosition LREAL	Position of the master axis where the clutch-in process ends.
ClutchTime LREAL	Time period for smooth clutching-in via time clutch
VelocityDiff LREAL	Maximum velocity difference in [unit/s] Max. velocity of the compensating movement, i.e. only specify if START_MODE.mcLimited applies.
Acceleration LREAL	Maximum acceleration in [unit/s ² ] Max. acceleration of the compensating movement, i.e. only specify if START_MODE.mcLimited applies.
Deceleration LREAL	Maximum deceleration in [unit/s ² ] Max. deceleration of the compensating movement, i.e. only specify if START_MODE.mcLimited applies.
Jerk LREAL	Maximum jerk in [unit/s ³ ] Max. jerk of the compensating movement, i.e. only specify if START_MODE.mcLimited applies.
StartMode MC_START_MODE	Type of clutch-in: mcAbsolute: Direct acceptance of the work curve mcRelative: Direct acceptance of the work curve with relative reference to the current slave position mcPosition: Position-controlled clutch-in mcPositionNoReverse: Position-controlled clutch-in without reversing mcTime: Time-controlled clutch-in mcLimited: Clutch-in via compensating movement
ScalingOffsetMode L_MC2P_ScalingOffsetMode	Scaling and offset mode: direct: Direct acceptance of scaling and offset rampIn: Compensating movement for including scaling and offset values
MasterValueSource MC_SOURCE	Source of relevant data for the master axis: mcSetValue: Setpoints are used mcActualValue: Current values of the feedback system are used
Periodic BOOL	Selection is periodic/not periodic
FALSE	Curve is not periodic
TRUE	Curve is periodic (default if input is not connected)
MasterAbsolute BOOL	Selection is absolute/relative for master
FALSE	Master is relative
TRUE	Master is absolute (default if input is not connected)
SlaveAbsolute BOOL	Selection is absolute/relative for slave
FALSE	Slave is relative
TRUE	Slave ist absolute (default if input is not connected)
CamTable MC_CAM_REF	Transfer of the generated cam data
BufferMode MC_BUFFER_MODE	Mode for processing successive motion commands BufferMode Note: Only the mcBuffered and mcAborting buffer modes are supported.

Name

Data type

Information/possible settings

master

AXIS_REF

Transfer of the axis data structure of the master axis

Motion axes (AXIS_REF)

Slave

AXIS_REF

Transfer of the axis data structure of the slave axis

Motion axes (AXIS_REF)

Execute

BOOL

FALSE ä TRUE

Clutch in slave axis and execute cam.

The clutch-in process only starts if master and slave axis are enabled for movements.

ContinuousUpdate

BOOL

Continuous acceptance of the parameters

Control input ContinuousUpdate

FALSE

The pending parameters are accepted with a rising edge at Execute .

TRUE

The pending parameters are accepted continuously, i.e. during the execution the parameters may change.

DirectChange

BOOL

TRUE

An immediate cam replacement is permitted.

MasterOffset

LREAL

Offset in [unit] for shifting the master position

First, it is scaled and then the offset is added.

Default setting: 0

SlaveOffset

LREAL

Offset in [unit] for shifting the slave position

First, it is scaled and then the offset is added.

Default setting: 0

MasterScaling

LREAL

Factor for rescaling the master axis

Default setting: 1

Note: The factor must not become negative!

SlaveScaling

LREAL

Factor for rescaling the slave axis

Default setting: 1

Note: The factor must not become negative!

MasterStartDistance

LREAL

Distance via which the clutch-in process is executed.

MasterSyncPosition

LREAL

Position of the master axis where the clutch-in process ends.

ClutchTime

LREAL

Time period for smooth clutching-in via time clutch

VelocityDiff

LREAL

Maximum velocity difference in [unit/s]

Max. velocity of the compensating movement, i.e. only specify if START_MODE.mcLimited applies.

Acceleration

LREAL

Maximum acceleration in [unit/s ² ]

Max. acceleration of the compensating movement, i.e. only specify if START_MODE.mcLimited applies.

Deceleration

LREAL

Maximum deceleration in [unit/s ² ]

Max. deceleration of the compensating movement, i.e. only specify if START_MODE.mcLimited applies.

Jerk

LREAL

Maximum jerk in [unit/s ³ ]

Max. jerk of the compensating movement, i.e. only specify if START_MODE.mcLimited applies.

StartMode

MC_START_MODE

Type of clutch-in:

mcAbsolute: Direct acceptance of the work curve

mcRelative: Direct acceptance of the work curve with relative reference to the current slave position

mcPosition: Position-controlled clutch-in

mcPositionNoReverse: Position-controlled clutch-in without reversing

mcTime: Time-controlled clutch-in

mcLimited: Clutch-in via compensating movement

ScalingOffsetMode

L_MC2P_ScalingOffsetMode

Scaling and offset mode:

direct: Direct acceptance of scaling and offset

rampIn: Compensating movement for including scaling and offset values

MasterValueSource

MC_SOURCE

Source of relevant data for the master axis:

mcSetValue: Setpoints are used

mcActualValue: Current values of the feedback system are used

Periodic

BOOL

Selection is periodic/not periodic

FALSE

Curve is not periodic

TRUE

Curve is periodic (default if input is not connected)

MasterAbsolute

BOOL

Selection is absolute/relative for master

FALSE

Master is relative

TRUE

Master is absolute (default if input is not connected)

SlaveAbsolute

BOOL

Selection is absolute/relative for slave

FALSE

Slave is relative

TRUE

Slave ist absolute (default if input is not connected)

CamTable

MC_CAM_REF

Transfer of the generated cam data

BufferMode

MC_BUFFER_MODE

Mode for processing successive motion commands

BufferMode

Note: Only the mcBuffered and mcAborting buffer modes are supported.

Outputs

Name Data type	Value/meaning
InSync BOOL	TRUE	Slave and master axis are synchronised, the work curve is executed.
Busy BOOL	TRUE	Processing is running.
Active BOOL	TRUE	The command of the FB is currently executed. The Active output matters if a motion control is carried out by several FBs (BufferMode).
CommandAborted BOOL	TRUE	The command was aborted by another FB. The motion control of the slave has been taken over by another FB.
Error BOOL	TRUE	An error has occurred. For details see ErrorID . The motion control of the slave must be taken over by another FB.
ErrorID L_IE1P_Error	If Error = TRUE: Error number for the error that has occurred.
EndOfProfile BOOL	FALSE ä TRUE	Cyclic end of the cam profile reached. The TRUE state is only set for one cycle (pulsed signal).

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