MC_CamIn (FB)¶

FUNCTION_BLOCK MC_CamIn

Executes a given cam table.

InOut:

Scope	Name	Type	Initial	Comment
Inout	Master	AXIS_REF_SM3		Reference to master axis. Master need not be stationary.
	Slave	AXIS_REF_SM3		Reference to slave axis
Input	Execute	BOOL		Rising edge: Starts the execution of the function block.
	MasterOffset	LREAL		Offset on master table in master cam table units.
	SlaveOffset	LREAL		Offset on slave table in slave axis units. Mechanical analogy to the slave offset is a cam plate, which is welded with additional constant layer thickness. Therefore slave positions have a constant offset. The offset can be interpreted as an axis offset of the master axis on the assumption that the slave cam is linearly guided.
	MasterScaling	LREAL	1	Scaling factor for master profile. Must not be 0.
	SlaveScaling	LREAL	1	Scaling factor for slave profile. Must not be 0.
	MasterStartDistance	LREAL		The master distance (in master cam table units) from the MasterSyncPosition where the slave axis starts synchronization. Only used in StartMode ramp_in_dist. If MasterStartDistance is 0 (or negative), then the slave movement is started immediately, provided that the master is not in standstill. If BufferMode <> Aborting, then the MasterStartDistance must be 0 (or negative).
	MasterSyncPosition	LREAL		The master position in the cam table where the slave axis has to be synchronized to the master. Must be a valid position in the cam table, otherwise the error SMC_CI_MASTER_SYNC_POSITION_OUT_OF_SCALE will be reported. Only used in StartMode ramp_in_dist.
	AvoidReversal	BOOL		FALSE: Signals that the reversal of the slave is physically possible and acceptable. TRUE: Signals that a reversal of the modulo slave has to be avoided, e.g. because it is physically impossible or might lead to damage. It works only with modulo slave axes. If a reversal cannot be avoided, the axis is stopped with an error. Only used in StartMode ramp_in_dist. Behavior: If the slave axis is a modulo axis and the master velocity (times the slope of the cam table at the MasterSyncPosition) is not opposite to the slave velocity, then MC_CamIn tries to avoid a reversal of the slave. It tries to “stretch” the slave movement by increasing the distance the slave travels by up to 5 slave periods. If this “stretching” is not successful, i.e. does not avoid a reversal, an error is reported. If the slave velocity is opposite to the master velocity times the slope of the cam table at the MasterSyncPosition, an error is reported. If the slave axis is not a modulo axis, an error is reported on the rising edge of the Execute input.
	StartMode	MC_StartMode	absolute	Start mode Possible values: absolute, relative: The Slave will immediately be InSync and follow the trajectory defined by cam table and Master. Depending on the current state of the Slave, this can lead to a jump in position, velocity, and/or acceleration. If the StartMode is absolute, the value of SlaveAbsolute set by MC_CamTableSelect will be used. If the StartMode is relative, relative coordinates will be used for the slave position, effectively overwriting of the value of SlaveAbsolute. ramp_in, ramp_in_pos, ramp_in_neg: The Slave will synchronize to the cam as fast as possible using the configured VelocityDiff, Acceleration, Deceleration, and Jerk. If the Slave is a modulo axis, ramp_in_pos and ramp_in_neg define the direction for ramping in. For a finite Slave, all three StartModes behave the same. ramp_in_dist: The Slave will synchronize to the cam so that it follows the trajectory defined by cam table and Master as soon as the Master reaches the MasterSyncPosition. Synchronization will start when the Master is within the MasterStartDistance of the MasterSyncPosition. Please note that the ramping-in StartModes only have an effect on a rising edge of input Execute. If the cam table is changed by modifying input CamTableID, no ramping-in is performed.
	CamTableID	MC_CAM_ID		Identification of the cam table. The input is connected with the output of MC_CamTableSelect. While camming is active, this input can be used to change cam tables on the fly without a new rising edge on Execute. Compared to restarting camming with a rising edge on Execute, there are a few differences: If ramping with StartMode ramp_in, ramp_in_pos, or ramp_in_neg is active, it is not aborted. Even if the StartMode is ramp_in, ramp_in_pos, or ramp_in_neg, no new ramping in is initiated. If EndOfProfile has been set in the same cycle, the new cam table is automatically offset so that no gap occurs between the two tables. Please note that when using distance based ramping in (StartMode ramp_in_dist), the error SMC_CI_CAM_CHANGED_DURING_RAMP_IN_DIST is returned if the CamTableID changes while ramping in is still active.
	BufferMode	MC_BUFFER_MODE		Defines the chronological sequence of the FB relative to the previous block. Only the BufferModes Aborting, Buffered and BlendingPrevious are supported. BlendingPrevious means that the configured velocity (including the direction) of the previous movement is used as the blending velocity, even if this movement has the opposite direction. If the function block is Busy, then only BufferMode=Aborting is allowed.
	VelocityDiff	LREAL		Maximum velocity difference in u/s for ``StartMode``s ramp_in, ramp_in_pos, and ramp_in_neg.
	Acceleration	LREAL		Acceleration in u/s² for ``StartMode``s ramp_in, ramp_in_pos, and ramp_in_neg.
	Deceleration	LREAL		Deceleration in u/s² for ``StartMode``s ramp_in, ramp_in_pos, and ramp_in_neg.
	Jerk	LREAL		Jerk in u/s³ for ``StartMode``s ramp_in, ramp_in_pos, and ramp_in_neg.
	TappetHysteresis	LREAL		Size of the hysteresis for tappets in u. A positive value means that the tappet cannot fire immediately after it has fired. The master position first needs to move away from the tappet by more than the value given for TappetHysteresis. For example, if the master is an encoder, the master position may oscillate by a few increments around the tappet position. Without a hysteresis, the tappet may fire all the time.
Output	InSync	BOOL		Indicates that the Slave follows the cam profile.
	Busy	BOOL		Execution of the function block has not finished.
	Active	BOOL		Indicates that the FB has control on the axis
	CommandAborted	BOOL		Command has been aborted by another command
	Error	BOOL		Signals that an error has occured within the function block.
	ErrorID	SMC_ERROR		Error identification
	EndOfProfile	BOOL		Indicates that the Master has reached a border of the cam table. (This can be either the start or the end of the cam table, depending on the Master direction.) For periodic cams, the output is set for one cycle for each new period. For non-periodic cams, the output stays TRUE while the Master is outside the cam range. The Slave will remain in synchronized_motion. If the Slave is not in standstill when EndOfProfile is reached, another movement must be commanded that takes control of the Slave. MC_CamIn does not stop the Slave on EndOfProfile. A buffered movement that has been commanded after this movement is started as soon as EndOfProfile is set. This behavior is the same for periodic and non-periodic cams. Note: With StartMode ramp_in, ramp_in_pos, or ramp_in_neg and depending on the configured VelocityDiff, Acceleration, Deceleration, and Jerk, it is possible that the Master reaches EndOfProfile before the slave is InSync.
	Tappets	SMC_TappetData		Tappets: Has to be evaluated by SMC_GetTappetValue function blocks.