MC_CamOut
The function block MC_CamOut deactivates a master-slave coupling.
Notice | |
If a slave axis is uncoupled during the movement, it is not automatically stopped, but reaches a continuous velocity with which it will continue to travel endlessly. The axis can be stopped with a Stop command. |
Notice | |
Call during movement If the Set Point Generator Type is set to '7 Phases (optimized)', the slave axis will reduce its acceleration to zero after it is being decoupled and it will then continue moving endless at constant velocity. The decoupled axis will not be positioned to any target position. The behavior is comparable to a move commanded by MC_MoveVelocity. With TwinCAT 2.10 the set point generator type is selectable. From TwinCAT 2.11 the setting is fixed to '7 Phases (optimized)'. If a project is upgraded from TwinCAT 2.10 to TwinCAT 2.11, the behavior will be as described here. After updating an existing application to TwinCAT 2.11, it might be necessary to adapt the PLC program: |
Inputs
VAR_INPUT
Execute : BOOL;
Options : ST_GearOutOptions;
END_VAR
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Execute |
The command is executed with a rising edge at input Execute. |
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Options |
Currently not implemented |
Outputs
VAR_OUTPUT
Done : BOOL;
Busy : BOOL;
Error : BOOL;
ErrorID : UDINT;
END_VAR
Done | Becomes TRUE, if the axis was successfully uncoupled. |
Busy | The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. When Busy becomes FALSE again, the function block is ready for a new command. At the same time one of the outputs, Done or Error, is set. |
Error | Becomes TRUE, as soon as an error occurs. |
ErrorID | If the error output is set, this parameter supplies the error number |
Inputs/outputs
VAR_IN_OUT
Slave : AXIS_REF;
END_VAR
Slave | Slave axis data structure. |
The axis data structure of type AXIS_REF addresses an axis uniquely within the system. Among other parameters it contains the current axis status, including position, velocity or error status.