MC_CamActivationMode

TYPE MC_CamActivationMode :
(
   (* instantaneous change *)
   MC_CAMACTIVATION_INSTANTANEOUS, 

   (* modify the data at a defined master position referring to the cam tables master position *)
   MC_CAMACTIVATION_ATMASTERCAMPOS,

   (* modify the data at a defined master position referring to the absolute master axis position *)
   MC_CAMACTIVATION_ATMASTERAXISPOS

   (* modify the data at the beginning of the next cam table cycle *)
   MC_CAMACTIVATION_NEXTCYCLE, 

   (* not yet implemented! 
   modify the data at the beginning of the next cam table cycle, activation is valid for one cycle only *)
   MC_CAMACTIVATION_NEXTCYCLEONCE, 

   (* modify the data as soon as the cam table is in a safe state to change its data *)
   MC_CAMACTIVATION_ASSOONASPOSSIBLE, 

   (* don't accept any modification *)
   MC_CAMACTIVATION_OFF, 

   (* delete all data which was written to modify the cam table but is still not activated *)
   MC_CAMACTIVATION_DELETEQUEUEDDATA, 

   (* special mode at a defined master axis position in a defined positive direction *)
   MC_CAMACTIVATION_ATMASTERAXISPOS_POSITVEDIRECTION, 

   (* special mode at a defined master axis position in a defined negative direction *)
   MC_CAMACTIVATION_ATMASTERAXISPOS_NEGATIVEDIRECTION 
);
END_TYPE

MC_CamActivationMode specifies the timing and type of change for a cam plate. Changes can be affected through scaling, modification of the cam plate data, or switching of cam plates.

The following modes are possible:

Scaling of cam plates

Cam plates can be scaled with the function block MC_CamScaling. The following activation modes are available.

MC_CAMACTIVATION_INSTANTANEOUS	Scaling takes effect immediately.
MC_CAMACTIVATION_ATMASTERCAMPOS	Scaling takes effect at a certain cam plate position (master position within the cam plate). The scaling command must be issued ahead of this position. The position refers to the non-scaled 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.
MC_CAMACTIVATION_ATMASTERAXISPOS	Scaling takes effect at a certain absolute position of the master axis. The scaling command must be issued ahead of this position.
MC_CAMACTIVATION_NEXTCYCLE	For a cyclic cam plate, scaling takes effect at the transition to the next period.
MC_CAMACTIVATION_OFF	No scaling is carried out. This can be used to limit scaling to one axis (master or slave), for example.

Setting the mode for changing a cam plate online (writing of point data)

MC_SetCamOnlineChangeMode is used to specify when modified cam plate data become active (see also MC_WriteMotionFunction and MC_WriteMotionFunctionPoint).

In both cases the following modes are possible:

MC_CAMACTIVATION_INSTANTANEOUS	The change takes effect immediately.
MC_CAMACTIVATION_ATMASTERCAMPOS	The change takes effect at a certain cam plate position (master position within the cam plate). The command must be issued ahead of this position. The position refers to the non-scaled 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.
MC_CAMACTIVATION_ATMASTERAXISPOS	The change takes effect at a certain absolute position of the master axis. The command must be issued ahead of this position.
MC_CAMACTIVATION_NEXTCYCLE	For a cyclic cam plate, the change takes effect at the transition to the next period.
MC_CAMACTIVATION_ASSOONASPOSSIBLE	Modified cam plate data take effect as soon as system dynamics allow.
MC_CAMACTIVATION_OFF	Changes in cam plate data are ignored.
MC_CAMACTIVATION_DELETEQUEUEDDATA	Queued cam plate data are deleted. Data are queued if the change was requested at a certain master position or at the end of the cycle, for example.

Coupling with cam plates

The function block MC_CamIn can be used to couple axes with cam plates. ActivationMode can optionally be used to specify from which position the slave axis becomes active.

MC_CAMACTIVATION_INSTANTANEOUS	Cam plate coupling takes effect immediately, and the slave moves according to the cam plate data.
MC_CAMACTIVATION_ATMASTERCAMPOS	Cam plate coupling activation is suspended. The slave only moves from a defined cam plate position (master position within the cam plate) according to the cam plate data. In coupling mode, the ActivationMode cannot be used in conjunction with MC_StartMode = MC_STARTMODE_RELATIVE or MC_STARTMODE_MASTERREL_SLAVEABS. The position refers to the non-scaled 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.
MC_CAMACTIVATION_ATMASTERAXISPOS	Cam plate coupling activation is suspended. The slave only moves from a defined absolute position of the master axis according to the cam plate data.
MC_CAMACTIVATION_NEXTCYCLE	Cam plate coupling activation is suspended. The slave moves from the next cycle transition (for cyclic cam plates). In coupling mode, the ActivationMode cannot be used in conjunction with MC_StartMode = MC_STARTMODE_RELATIVE or MC_STARTMODE_MASTERREL_SLAVEABS.
MC_CAMACTIVATION_ATMASTERAXISPOS_POSITVEDIRECTION	The cam plate coupling is performed at a defined absolute position of the master axis, when the master passes the position in positive direction. (This mode is a special case of MC_CAMACTIVATION_ATMASTERAXISPOS, which ensures safe activation in the immediate proximity around the current position, even at very low speeds with short-term changes of direction (noise))
MC_CAMACTIVATION_ATMASTERAXISPOS_NEGATIVEDIRECTION	The cam plate coupling is performed at a defined absolute position of the master axis, when the master passes the position in negative direction. (This mode is a special case of MC_CAMACTIVATION_ATMASTERAXISPOS, which ensures safe activation in the immediate proximity around the current position, even at very low speeds with short-term changes of direction (noise))

Switching of cam plates

The function block MC_CamIn can be used to switch between cam plates in coupled state. ActivationMode can be used to specify from which position the changeover takes place.

MC_CAMACTIVATION_INSTANTANEOUS	The cam plate is switched immediately, and the slave moves according to the new cam plate data.
MC_CAMACTIVATION_ATMASTERCAMPOS	Cam plate switching takes place at a defined cam plate position (master position within the cam plate). The position refers to the non-scaled 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.
MC_CAMACTIVATION_ATMASTERAXISPOS	Cam plate switching takes place at a defined absolute master axis position.
MC_CAMACTIVATION_NEXTCYCLE	For cyclic cam plates cam plate switching takes place at the next cycle transition. For linear cam plates the switchover takes place at the edges of a defined region.
MC_CAMACTIVATION_DELETEQUEUEDDATA	A suspended cam plate switching process that has not been activated is discarded.
MC_CAMACTIVATION_ATMASTERAXISPOS_POSITVEDIRECTION	The cam plate switching is performed at a defined absolute position of the master axis, when the master passes the position in positive direction. (This mode is a special case of MC_CAMACTIVATION_ATMASTERAXISPOS, which ensures safe activation in the immediate proximity around the current position, even at very low speeds with short-term changes of direction (noise))
MC_CAMACTIVATION_ATMASTERAXISPOS_NEGATIVEDIRECTION	The cam plate switching is performed at a defined absolute position of the master axis, when the master passes the position in negative direction. (This mode is a special case of MC_CAMACTIVATION_ATMASTERAXISPOS, which ensures safe activation in the immediate proximity around the current position, even at very low speeds with short-term changes of direction (noise))