MC_CamScaling

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

Name	Type	Description
Execute	BOOL	The command is executed with a rising edge at Execute input.
ActivationMode	MC_CamActivationMode	ActivationMode specifies the scaling time or position.
ActivationPosition	LREAL	Master position at which a cam plate is scaled depending on the ActivationMode. 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	MC_CamScalingMode	Optional Scaling mode for the master position of the cam plate.
SlaveScalingMode	MC_CamScalingMode	Optional Scaling mode for the slave position of the cam plate.
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.

Inputs/outputs

VAR_IN_OUT
   Slave    : AXIS_REF;
END_VAR

Name	Type	Description
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
   Done           : BOOL;
   Busy           : BOOL;
   Active         : BOOL;
   CommandAborted : BOOL;
   Error          : BOOL;
   ErrorID        : UDINT;
END_VAR

Name	Type	Description
Done	BOOL	Becomes TRUE if the cam plate was created successfully.
Busy	BOOL	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 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.