MC_CamIn_V2

MC_CamIn_V2 is a further development of the function block MC_CamIn and is able to operate with several superimposed cam plates (Multi-Cam). When MC_CamIn_V2 is first called it creates a master/slave coupling with the cam plate. Subsequent calls during runtime can be used to superimpose additional cam plates for the same slave axis or remove them again. The switching rules, in particular the time or position, can be specified.

MC_CamIn_V2 can only be used as an alternative to MC_CamIn. The two function blocks cannot be used together for the same slave axis. For addition, replacement and removal of cam plates the function blocks MC_CamAdd, MC_CamExchange and MC_CamRemove are available as alternatives. All operations can also be carried out with MC_CamIn_V2.

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

Important:

ActivationMode (time or position from which the operation takes place)

CamOperationMode (adding, switching or removal of superimposed cam plates)

ScalingMode

Inputs

VAR_INPUT
   Execute            : BOOL;
   ActivationMode     : MC_CamActivationMode := MC_CAMACTIVATION_INSTANTANEOUS;
   ActivationPosition : LREAL;
   CamTableID         : MC_CAM_ID; 
   Scaling            : ST_CamScalingData;
   Options            : ST_CamInOptions_V2;
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.
CamTableID	MC_CAM_ID	ID of the cam plate used for the coupling.
Scaling	ST_CamScalingData	Optional scaling parameters for the cam plate.
Options	ST_CamInOptions_V2	Data structure with further coupling and switching options:
		Interpolation type	Interpolation type for position tables. Not required for motion functions.
		CamOperationMode	The CamOperationMode defines the way the specified cam plate (CamTableID) has to act in the coupled system. Cam plates can be added, switched or removed.
		ReferenceCamTableID	Optional ID of a cam plate that is already active in the coupling. This ID is specially required for operations that would otherwise be ambiguous, e.g. replacement of certain cam plates in multi-couplings. In unambiguous operations the value can remain 0.

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 cam plate operation was completed successfully. In operations with activation position, InSync only becomes TRUE after the actual activation.
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, InSync 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.