MC_CamExchange

MC_CamExchange exchanges a cam plate in a multi-cam coupling. The cam plate coupling is initially created with MC_CamIn_V2.

Alternatively, a cam plate can be exchanged 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; 
   ReferenceCamTableID : MC_CAM_ID; 
   Scaling             : ST_CamScalingData;
   Options             : ST_CamExchangeOptions;
END_VAR

Name	Type	Description
Execute	BOOL	The command is executed with a rising edge at Execute input.
ActivationMode	MC_CamActivationMode	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	LREAL	Optional master position at which a cam plate is switched, depending on the ActivationMode. (Not required for first coupling.) If the MC_CAMACTIVATION_ATMASTERCAMPOS ActivationMode 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.
ReferenceCamTableID	MC_CAM_ID	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.
Scaling	ST_CamScalingData	Optional scaling parameters for the cam plate.
Options	ST_CamAddOptions	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 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.