MC_CamScaling

MC_CamScaling 1:

A cam plate coupling can be scaled with the function block MC_CamScaling. The raw table data of the cam plate are not affected, however the scaling refers to an existing master/slave coupling. The following parameters can be modified: scaling factors for master and slave, and offsets for the cam plate within the coordinate system.

Optionally, the modification will only take effect from a certain master position, enabling precise scaling during the motion. Caution when scaling during motion! The slave position at the time of scaling should only be affected slightly by the change.

The status flag Axis.Status.CamScalingPending (AXIS_REF) can be used to check whether a scaling procedure is queued.

Inputs

VAR_INPUT
   Execute             : BOOL;
   ActivationMode      : MC_CamActivationMode;
   ActivationPosition  : LREAL;
   MasterScalingMode   : MC_CamScalingMode;
   SlaveScalingMode    : MC_CamScalingMode;
   MasterOffset        : LREAL;
   SlaveOffset         : LREAL;
   MasterScaling       : LREAL := 1.0;
   SlaveScaling        : LREAL := 1.0;
END_VAR

Execute	The command is executed with a rising edge at input Execute.
ActivationMode	ActivationMode specifies the scaling time and position.
ActivationPosition	Master position at which a cam plate is scaled, depending on the ActivationMode. If ActivationMode MC_CAMACTIVATION_ATMASTERCAMPOS is used, the position refers to the non-scaled cam plate. If the position in the application refers to the scaled cam plate, it can be divided by the MasterScaling before the function block is called.
MasterScalingMode	optional Scaling mode for the master position of the cam plate
SlaveScalingMode	optional Scaling mode for the slave position of the cam plate
MasterOffset	Offset to the master position of the cam plate
SlaveOffset	Offset to the slave position of the cam plate
MasterScaling	Scaling of the master position of the cam plate
SlaveScaling	Scaling of the slave position of the cam plate

Outputs

VAR_OUTPUT
   Done                : BOOL;
   Busy                : BOOL;
   Active              : BOOL;
   CommandAborted      : BOOL;
   Error               : BOOL;
   ErrorID             : UDINT;
END_VAR

Done	Becomes TRUE if scaling was successful.
Busy	The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set.
Active	Active indicates that the command is executed. When the scaling was done depending on ActivationMode, Active becomes FALSE and Done is set.
CommandAborted	Becomes TRUE, if the command could not be fully executed.
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

Axis data structure of the Slave.

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.