CamCharacteristics

Computed characteristics of a cam table describing its motion profile properties.

Syntax

Definition:

TYPE CamCharacteristics :
STRUCT
    NominalMasterVelocity       : LREAL;
    StartPoint                  : CamProfilePoint;
    EndPoint                    : CamProfilePoint;
    PointAtMinSlavePosition     : CamProfilePoint;
    PointAtMinSlaveVelocity     : CamProfilePoint;
    PointAtMinSlaveAcceleration : CamProfilePoint;
    PointAtMinSlaveJerk         : CamProfilePoint;
    PointAtMaxSlavePosition     : CamProfilePoint;
    PointAtMaxSlaveVelocity     : CamProfilePoint;
    PointAtMaxSlaveAcceleration : CamProfilePoint;
    PointAtMaxSlaveJerk         : CamProfilePoint;
    SlaveMeanAbsoluteVelocity   : LREAL;
    SlaveEffectiveAcceleration  : LREAL;
    Oid                         : OTCID;
    NumberOfPoints              : UDINT;
    NumberOfActivePoints        : UDINT;
    NumberOfActiveSegments      : UDINT;
    IsValid                     : BOOL;
    IsPeriodic                  : BOOL;
    MinContinuityRequirement    : EContinuity;
END_STRUCT
END_TYPE

Parameters

Name	Type	Default	Description
NominalMasterVelocity	LREAL	0.0	Nominal master velocity used to convert dimensionless slave values to time-based values.
StartPoint	CamProfilePoint		Cam profile point at the start of the table.
EndPoint	CamProfilePoint		Cam profile point at the end of the table.
PointAtMinSlavePosition	CamProfilePoint		Cam profile point where the slave position reaches its minimum.
PointAtMinSlaveVelocity	CamProfilePoint		Cam profile point where the slave velocity reaches its minimum.
PointAtMinSlaveAcceleration	CamProfilePoint		Cam profile point where the slave acceleration reaches its minimum.
PointAtMinSlaveJerk	CamProfilePoint		Cam profile point where the slave jerk reaches its minimum.
PointAtMaxSlavePosition	CamProfilePoint		Cam profile point where the slave position reaches its maximum.
PointAtMaxSlaveVelocity	CamProfilePoint		Cam profile point where the slave velocity reaches its maximum.
PointAtMaxSlaveAcceleration	CamProfilePoint		Cam profile point where the slave acceleration reaches its maximum.
PointAtMaxSlaveJerk	CamProfilePoint		Cam profile point where the slave jerk reaches its maximum.
SlaveMeanAbsoluteVelocity	LREAL	0.0	Mean absolute velocity of the slave over the entire cam table range.
SlaveEffectiveAcceleration	LREAL	0.0	RMS (effective) acceleration of the slave over the entire cam table range.
Oid	OTCID	0	Object ID of the cam table these characteristics belong to.
NumberOfPoints	UDINT	0	Total number of profile points in the cam table.
NumberOfActivePoints	UDINT	0	Number of non-ignored profile points in the cam table.
NumberOfActiveSegments	UDINT	0	Number of active interpolation segments between the profile points.
IsValid	BOOL	false	TRUE if the characteristics have been computed successfully.
IsPeriodic	BOOL	false	TRUE if the cam table is periodic (start and end boundary conditions match).
MinContinuityRequirement	EContinuity	PositionVelocityAcceleration	Minimum continuity level required for smooth operation of the cam table.

Further information

This structure contains the most important properties of a cam plate and can be retrieved using the MC_CamObject.ReadCharacteristics() method.

Version information

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