MC_ReadMotionFunctionValues

MC_ReadMotionFunctionValues 1:

The function block MC_ReadMotionFunctionValues can be used to read the interpolated data of a motion function in the form of a table.

This function can be used for visualising a motion function, for example. The complete curve is digitised with a parameterisable step size. The data determined in this way are easier to display then a motion function.

Inputs


VAR_INPUT
    Execute         : BOOL;
    CamTableID : MC_CAM_ID;
    ValueSelectMask     : UINT; (* MC_ValueSelectType; position, velocity, acceleration, jerk… *)
    StartPosMaster : LREAL; (* master position of first point *)
    EndPosMaster : LREAL; (* master position of last point *)
    Increment : LREAL; (* increment of master position *)
END_VAR

Execute	The command is executed with rising edge.
CamTableID	ID of the loaded table (motion function type).
ValueSelectMask	The selection mask can be used to specify which data are to be interpolated and returned. The value is formed through addition of individual values of data type MC_ValueSelectType. The number of columns of the data structure described by CamTable must match the number of columns defined by ValueSelectMask. If, for example, only position data are read, the number of columns is 2 (master and slave position). With each further derivative (speed, acceleration, jerk), the number of columns increases by 1.
StartPosMaster	Position value of the master axis of the first interpolated point
EndPosMaster	Position value of the master axis of the last interpolated point
Increment	Interpolation step size

Outputs


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

Done	Becomes TRUE, if the data were read successfully.
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
    CamTable : MC_CAM_REF;
END_VAR

CamTable

Reference to the table (structure).