MC_CamScaling_V2

MC_CamScaling_V2 1:

A cam plate coupling can be scaled with the function block MC_CamScaling_V2. 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.CamcalingPending (AXIS_REF) can be used to check whether a scaling procedure is queued.

The block can be used from a runtime version TwinCAT 2.11 R2

Inputs

VAR_INPUT
 Execute : BOOL;
 ActivationMode : MC_CamActivationMode;
 ActivationPosition : LREAL;
 CamTableID : MC_CAM_ID;
 Scaling : ST_CamScalingData;
    Options : ST_CamScalingOptions_V2;
END_VAR

Execute	The command is executed with a rising edge at input Execute.
ActivationMode	ActivationMode specified 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.
CamTableID	ID of the cam plate that is scaled.
Scaling	Scaling data such as mode, offset and scaling factor
Options	not used

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. When Busy becomes FALSE again, the function block is ready for a new command. 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.