MC_CamIn

The function block MC_CamIn activates master-slave coupling with a certain cam plate. In addition it is possible to switch to a new cam plate in coupled state. The switching rules, in particular the time or position, can be specified.

The status flag Axis.Status.CamTableQueued (AXIS_REF) can be used to check whether a cam plate is queued for switchover.

Important:

Further information on coupling with cam plates

ActivationMode (coupling or switching of cam plates)

StartMode

ScalingMode

Inputs

VAR_INPUT
   Execute       : BOOL;
   MasterOffset  : LREAL;
   SlaveOffset   : LREAL;
   MasterScaling : LREAL := 1.0;
   SlaveScaling  : LREAL := 1.0;
   StartMode     : MC_StartMode;
   CamTableID    : MC_CAM_ID; 
   BufferMode    : MC_BufferMode; 
   Options       : ST_CamInOptions;
END_VAR

Name	Type	Description
Execute	BOOL	The command is executed with a rising edge at Execute input.
MasterOffset	LREAL	Offset to the master position of the cam plate.
SlaveOffset	LREAL	Offset to the slave position of the cam plate.
MasterScaling	LREAL	Scaling of the master position of the cam plate.
SlaveScaling	LREAL	Scaling of the slave position of the cam plate.
StartMode	MC_StartMode	StartMode determines whether the cam positions are interpreted absolutely or relative to the coupling position. StartMode can be relative or absolute for master (X coordinate) and slave (Y coordinate) respectively.
CamTableID	MC_CAM_ID	ID of the cam plate used for the coupling.
BufferMode	MC_BufferMode	Currently not implemented.
Options	ST_CamInOptions	Data structure with further coupling and switching options:
		ActivationMode	The ActivationMode is used to specify the time or position at which the cam plate coupling or switchover is to take place. ActivationMode can also be specified when a slave is coupled for the first time.
		ActivationPosition	Optional master position at which a cam plate is switched, depending on the ActivationMode. (Not required for first coupling.) If the ActivationMode MC_CAMACTIVATION_ATMASTERCAMPOS is used, the position refers to the unscaled 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.
		InterpolationType	Interpolation type for position tables. Not required for motion functions.

Inputs/outputs

VAR_IN_OUT
   Master : AXIS_REF;
   Slave  : AXIS_REF;
END_VAR

Name	Type	Description
Master	AXIS_REF	Axis data structure of the master.
Slave	AXIS_REF	Axis data structure of the Slave.

The axis data structure of type AXIS_REF addresses an axis unambiguously within the system. Among other parameters, it contains the current axis status, including position, velocity or error state.

Outputs

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

Name	Type	Description
InSync	BOOL	Becomes TRUE if the coupling was successful and the cam plate is active.
Busy	BOOL	The Busy output becomes TRUE when the command is started with Execute and remains TRUE for as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new order. At the same time one of the outputs, Done or Error, is set.
Active	BOOL	Active indicates that the command is executed. For cam plate switching, Active becomes TRUE if the coupling command was executed successfully but the cam plate is still queued. If the cam plate is activated depending on the ActivationMode, Active becomes FALSE and InSync is set.
CommandAborted	BOOL	Becomes TRUE if the command could not be fully executed. The axis may have become decoupled during the coupling process (simultaneous command execution).
Error	BOOL	Becomes TRUE as soon as an error occurs.
ErrorID	UDINT	If the error output is set, this parameter supplies the error number.