MC_ReadMotionFunction

The MC_ReadMotionFunction function block can be used to read the data of a motion function. Either the complete function with all interpolation points or only a part can be read. The data are stored within the PLC in the structure described by CamTable.

Inputs

VAR_INPUT
   Execute    : BOOL;
   CamTableID : MC_CAM_ID;
   PointID    : MC_MotionFunctionPoint_ID;
   NumPoints  : UDINT; (* 0 = fill MFsize *)
END_VAR

Name	Type	Description
Execute	BOOL	The command is executed with a rising edge at Execute input.
CamTableID	MC_CAM_ID	ID of the loaded table.
PointID	MC_MotionFunctionPoint_ID	Point ID of the first point of the motion function to be read.
NumPoints	UDINT	Number of motion function points to be read. For reading all points, 0 can be specified here, in which case the number that is actually read is returned in the output variable NumPointsRead.

Inputs/outputs

VAR_IN_OUT
   CamTable : MC_CAM_REF;
END_VAR

Name	Type	Description
CamTable	MC_CAM_REF	Reference to the table (structure).

Outputs

VAR_OUTPUT
   Done          : BOOL;
   Busy          : BOOL;
   Error         : BOOL;
   ErrorID       : UDINT;
   NumPointsRead : UDINT; (* return value <= NumPoints *)
END_VAR

Name	Type	Description
Done	BOOL	Becomes TRUE if the data have been read successfully.
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.
Error	BOOL	Becomes TRUE as soon as an error occurs.
ErrorID	UDINT	If the error output is set, this parameter supplies the error number.
NumPointsRead	UDINT	The number of points that were actually read. The number can be less than or equal to NumPoints.