MC_CamScaling_V2

A cam plate coupling can be scaled with the MC_CamScaling_V2 function block. 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 Axis.Status.CamScalingPending (AXIS_REF) status flag can be used to check whether a scaling procedure is queued.

Inputs

VAR_INPUT
   Execute            : BOOL;
   ActivationMode     : MC_CamActivationMode;
   ActivationPosition : LREAL;
   CamTableID         : MC_CAM_ID;
   Scaling            : ST_CamScalingData;
   Options            : ST_CamScalingOptions_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 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 that is scaled.
Scaling	ST_CamScalingData	Scaling data such as mode, offset and scaling factor
Options	ST_CamScalingOptions_V2	Not used

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 scaling was successful.
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.