MC_CamAdd

This function block adds a cam table coupling on a slave. Generated setpoints from single cam table couplings are internally added.
As MC_CamIn, this function block can also be used to initiate camming-based synchronization.
As this function block is used for multi-camming, some special rules apply:
The same master can be used in multiple cam table couplings. A cam table can only be used once in a slave.

Syntax

Definition:

FUNCTION_BLOCK MC_CamAdd
VAR_INPUT
    Master                : Type_Master1D;
    Slave                 : Type_Camming1D;
    CamObject             : Type_CouplingFunction1D;
    Execute               : BOOL;
    Scaling               : CamScalingData;
    ActivationOptions     : CamActivationOptions;
    ReactionToMasterError : EReactionToMasterError;
    ReactionToSlaveError  : EReactionToSlaveError;
END_VAR
VAR_OUTPUT
    InSync                : BOOL;
    Busy                  : BOOL;
    Active                : BOOL;
    CommandAborted        : BOOL;
    Error                 : BOOL;
    ErrorId               : UDINT;
    MasterHasError        : BOOL;
END_VAR

Inputs

Name	Type	Default	Description
Master	Type_Master1D		Reference to the master axis
Slave	Type_Camming1D		Reference to the slave axis
CamObject	Type_CouplingFunction1D		Reference to the cam object
Execute	BOOL		Start cam add at rising edge.
Scaling	CamScalingData		Scaling of the new coupling
ActivationOptions	CamActivationOptions		Options controlling how the cam coupling is activated (mode, position, reference object).
ReactionToMasterError	EReactionToMasterError	TriggerSlaveError	Reaction if an error occurs in the master while this command is active.
ReactionToSlaveError	EReactionToSlaveError	TriggerMasterError	Reaction if an error occurs in the slave while this command is active.

Outputs

Name	Type	Description
InSync	BOOL	Synchronization succeeded
Busy	BOOL	Function block is not finished and new output values are to be expected.
Active	BOOL	Function block has active control on the axis.
CommandAborted	BOOL	Command is aborted by another command.
Error	BOOL	Error occurred within function block.
ErrorId	UDINT	Error identifier
MasterHasError	BOOL	Master is in error state.

Further information:

The same rules apply to ActivationOptions.ReferenceObject as to MC_CamIn. ActivationOptions.ReferenceObject:

ReferenceObject is not required when curve synchronization is initiated (the master curve table coupling of this function block is used for activation).
By default, the slave's active master curve table coupling is used, provided that only one exists (ReferenceObject = 0). If there are multiple slaves, set ReferenceObject = CamObject to ensure proper synchronization.
ReferenceObject must not be 0 if there is more than one active master curve table coupling.

MC_CamAdd allows you to program cam plate couplings for a slave axis to multiple different master axes. It should be noted that a master axis can be used in multiple cam plate couplings, i.e., for multiple slave axes. An MC_CamObject can be used only once for the same slave axis.

Version information

TwinCAT Standard >= v3.1.4026.23.1
TF5550 MC3 Camming >= v4.0.6 (includes TF5500 MC3 Base >= v4.0.6)

Required License

TC3 MC3 Camming