MC_ReadCamTableSlaveDynamics

MC_ReadCamTableSlaveDynamics 1:

The function block MC_ReadCamTableSlaveDynamics can be used to determine the slave dynamics at a certain point of a cam plate table. The function evaluates the raw table data. Any scaling of the cam plate is not taken into account.

For older cam plate table types, not all dynamic parameters can be determined. The following overview shows the expected result:

MC_TABLETYPE_MOTIONFUNCTION : slave position, velocity and acceleration are determined.

MC_TABLETYPE_EQUIDISTANT : slave position and velocity are determined. The acceleration is always 0.

MC_TABLETYPE_NONEQUIDISTANT : the slave position is determined. Velocity and acceleration are always 0.

Inputs

 
VAR_INPUT
    Execute         : BOOL;
    CamTableID : MC_CAM_ID;    
    MasterPosition : LREAL;
END_VAR

Execute	The command is executed with rising edge.
CamTableID	Table ID.
MasterPosition	Master position within the table for which the slave dynamics is to be determined.

Outputs


VAR_OUTPUT
    Done:              BOOL;
    Busy:              BOOL;
    SlavePosition:     LREAL;
    SlaveVelocity:     LREAL;
    SlaveAcceleration: LREAL;
    Error:             BOOL;
    ErrorID:           UDINT;
END_VAR

Done	Becomes TRUE, if the command was executed 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.
SlavePosition	Position of the slave within the cam plate table at the specified master position.
SlaveVelocity	Velocity of the slave within the cam plate table at the specified master position.
SlaveAcceleration	Acceleration of the slave within the cam plate table at the specified master position.
Error	Becomes TRUE, as soon as an error occurs.
ErrorID	If the error output is set, this parameter supplies the error number.