MC_ReadMotionFunctionValues

The function block MC_ReadMotionFunctionValues can be used to read the interpolated data of a motion function in the form of a table.

This function can be used for visualizing a motion function, for example. The complete curve is digitized with a parameterizable step size. The data determined in this way are easier to display then a motion function.

Inputs

VAR_INPUT
   Execute         : BOOL;
   CamTableID      : MC_CAM_ID;
   ValueSelectMask : UINT; (* MC_ValueSelectType; position, velocity, acceleration, jerk… *)
   StartPosMaster  : LREAL; (* master position of first point *)
   EndPosMaster    : LREAL; (* master position of last point *)
   Increment       : LREAL; (* increment of master position *)
END_VAR

Name	Type	Description
Execute	BOOL	The command is executed with the rising edge.
CamTableID	MC_CAM_ID	ID of the loaded table (motion function type).
ValueSelectMask	UINT	The selection mask can be used to specify which data are to be interpolated and returned. The value is created by adding single values of the data type MC_ValueSelectType. The number of columns of the data structure described by CamTable must correspond to the number of columns determined by ValueSelectMask. If, for example, only position data are read, the number of columns is 2 (master and slave position). With each further derivative (velocity, acceleration, jerk), the number of columns increases by 1.
StartPosMaster	LREAL	Position value of the master axis of the first interpolated point.
EndPosMaster	LREAL	Position value of the master axis of the last interpolated point.
Increment	LREAL	Interpolation step size

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;
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.