MC_CamIn

The MC_CamIn FB enables travel along cams that are created in the form of a table.

Block diagram

Parameters of the FB

VAR_IN_OUT
	Master	AXIS_REF	Axis reference to the master axis.
	Slave	AXIS_REF	Axis reference to the slave axis.
VAR_INPUT
	Execute	BOOL	Start at rising edge.
	MasterOffset	LREAL	Offset of master table. Range [-2147483648.0, 2147483647.0] Default unit [0,1µm or 10^-4 °]
	SlaveOffset	LREAL	Slave axis: Offset of the table. Range [-2147483648.0, 2147483647.0] Default unit [0,1µm or 10^-4 °]
	MasterScaling	LREAL	Factor for the master axis profile. From the slave point of view the master overall profile is multiplied by this factor. Range [-2147483648.0, 2147483647.0] Currently only integer values may be used!
	SlaveScaling	LREAL	Factor for the slave axis profile. The overall slave profile is multiplied by this factor. Range [-2147483648.0, 2147483647.0]
	StartMode	DWORD	Bits 2-0: Start mode 001: Ramp in (16#1) 010: Absolute (16#2) 100: Relative (16#4)
	CamTableID	UINT	Identifier of cam table to be used, linked to output of MC_CamTableSelect.
	TableFctType	UDINT	Table function types: 0: STEP_DIRECT 1: LINEAR 2: POLYNOM_3 3: POLYNOM_3_KOEFF 4: LINE_POLY5 5: POLY5_LINE 6: TABLE_DEFINED
VAR_OUTPUT
	InSync	BOOL	Cam is engaged for the first time.
	CommandAborted	BOOL	Command is aborted by another command.
	Error	BOOL	Indicates if an error has occurred.
	ErrorID	WORD	Error identification.
	EndOfProfile	BOOL	‘Pulsed’ output signals the cyclic end of the cam profile.

Behavior of the FB

The command for travel along a cam can only be issued only when the slave axis is in the ‘Standstill’ or ‘Continuous Motion’ or ‘Discrete Motion’ or ‘Synchronized Motion’ state. If this is not the case, the ‘Error’ output is set to FALSE and ‘ErrorID’ indicates an error value that designates the state the axis is currently in.
The value range of the ‘masteroffset’, ‘slaveoffset’, ‘masterscaling’ und ‘slavescaling’ input variables is monitored and, if it is exceeded, an error number referring to the variable is output at the ‘ErrorID’ output and ‘Error’ is set to TRUE.
If no table is loaded and the CamIn FB is commanded, an axis error is indicated (‘ErrorID’ = 40001) and the error ID 60172 is output via the ‘MC_ReadAxisError‘ function block.
The function block is retriggerable. Therefore, it can send a command again in the active state.
For an axis to work as a cam or gear master axis and for it to transfer the necessary synchronisation information to all axes (slaves) cyclically, the ‘cam_gear.is_master’ parameter must be set to 1 for such a master axis in the axis parameter configuration. An axis configured as the master can simultaneously also be coupled to another master axis as a slave.
The MC_CamIn FB can be used for both rotatory and linear slave axes.
Master/slave coupling is realized with the set points of the master.
A slave axis is defined with the following axis parameters:

Further Information