MLProfileBuild

The CAM properties structure (CamProps_Ref) contains these data members:

Each element of the structure contains these data members:

• The type of the N^th CAM segment is defined by the N^th Cam_Data element.
• The CAM is constructed with one less segment than the Cam_Data elements.
  • The last element's SegType is not used.
• See CAM Profile Editor's CAM Table for more information.

1. Create a Profile

• 
  
• Prior to using MLProfileBuild, you must first create a profile.
  This must be done prior to MLMotionStart.

            // Allocate space for a profile that will be built later
            
profileID := MLProfileCreate('ProfileName');

2. Define the Profile Data

1. Create an array of CamData_Ref structures in the data dictionary.
2. Enter each of the elements into that newly created structure.
   In this example, ProfileData is the name of the CamData_Ref structure.

            // Define the profile data
ProfileData[0].MasterIn := 0.0;
ProfileData[0].SlaveOut := 180.0;
ProfileData[0].SegType := CAM_SEGMENT_TYPE_POINT;
ProfileData[0].Velocity := 0.0;
ProfileData[0].Acceleration := 0.0;

ProfileData[1].MasterIn := 180.0;
ProfileData[1].SlaveOut := 324.0;
ProfileData[1].SegType := CAM_SEGMENT_TYPE_POINT;
ProfileData[1].Velocity := 0.5;
ProfileData[1].Acceleration := -0.025;

ProfileData[2].MasterIn := 360.0;
ProfileData[2].SlaveOut := 240.0;
ProfileData[2].SegType := CAM_SEGMENT_TYPE_POINT;
ProfileData[2].Velocity := 0.0;
ProfileData[2].Acceleration := 0.0;

3. Define the Profile Properties

1. Create a CamProps_Ref structure in the data dictionary.
2. Enter each of the properties into the newly created structure.
   In this example, ProfileProps is the name of the CamProps_Ref structure.

            // Define the profile properties
ProfileProps.InputScale := 360.0;  // Must be Positive!
ProfileProps.OutputScale := 360.0; // Must be Positive!
ProfileProps.InputOffset := 0.0;
ProfileProps.OutputOffset := 0.0;

4. Call the MLProfileBuild Function Block

Use the IEC International Electrotechnical Commission - A not-for-profit, non-governmental international standards organization that prepares and publishes International Standards for all electrical, electronic and related technologies. language of choice.

As part of this call it is recommended that you validate the Done and Error output before proceeding.

            // Build the profile
Inst_MLProfileBuild( TRUE, ProfileProps, ProfileData, 3, ProfileID, TRUE, CAM_PROFILE_OPTION_DEFAULT);

5. Use the New Profile

After verifying that MLProfileBuild is Done and there are no errors, you can use the newly generated profile.

The next step depends on the motion engine in use.

• PLCopen: call MC_CamTblSelect.
• Pipe Network: call either MLCamInit or MLCamSwitch.

• 
  
• Pipe Network: To correctly set the CAM scales and offsets (defined by the Cam_Props argument) MLPrfWriteIScale, MLPrfWriteOScale, MLPrfWriteIOffset and MLPrfWriteOOffset must be called before calling MLCamSwitch.

            // Switch Pipe Network Profile
MLPrfWriteIScale(profileID, ProfileProps.InputScale);
MLPrfWriteOScale(profileID, ProfileProps.OutputScale);
MLPrfWriteIOffset(profileID, ProfileProps.InputOffset);
MLPrfWriteOOffset(profileID, ProfileProps.OutputOffset);
MLCamSwitch(PipeNetwork.CAM, profileID);

            // Define the profile data
ProfileData[0].MasterIn     := 0.0;
ProfileData[0].SlaveOut     := 0.0;
ProfileData[0].SegType      := CAM_SEGMENT_TYPE_PARABOLIC;
ProfileData[0].Velocity     := 0.0;
ProfileData[0].Acceleration := 0.5;

ProfileData[1].MasterIn     := 50.0;
ProfileData[1].SlaveOut     := 150.0;
ProfileData[1].SegType      := CAM_SEGMENT_TYPE_LINE;
ProfileData[1].Velocity     := 5.0;
ProfileData[1].Acceleration := 0.0;		// Not used

ProfileData[2].MasterIn     := 55.0;
ProfileData[2].SlaveOut     := 175.0;
ProfileData[2].SegType      := CAM_SEGMENT_TYPE_PARABOLIC;
ProfileData[2].Velocity     := 5.0;
ProfileData[2].Acceleration := 0.0;		// No limit to the acceleration rate of the segment.

ProfileData[3].MasterIn     := 105.0;
ProfileData[3].SlaveOut     := 250.0;
ProfileData[3].SegType      := CAM_SEGMENT_TYPE_PARABOLIC;
ProfileData[3].Velocity     := 0.0;
ProfileData[3].Acceleration := 0.5;

ProfileData[4].MasterIn     := 225.0;
ProfileData[4].SlaveOut     := 125.0;
ProfileData[4].SegType      := CAM_SEGMENT_TYPE_PARABOLIC;
ProfileData[4].Velocity     := -10.0;
ProfileData[4].Acceleration := 0.5;

ProfileData[5].MasterIn     := 360.0;
ProfileData[5].SlaveOut     := 0.0;
ProfileData[5].SegType      := CAM_SEGMENT_TYPE_PARABOLIC;	// Not used
ProfileData[5].Velocity     := 0.0;
ProfileData[5].Acceleration := 0.0;		// Not used

• When calling the MLProfileBuild function block, verify CAM_PROFILE_OPTION_PARABOLIC is specified for the Option argument: in the IEC language of choice.
• As part of this call, it is recommended that you validate the Done and Error output before proceeding.

// Build the profile
Inst_MLProfileBuild( TRUE, ProfileProps, ProfileData, 3, ProfileID, TRUE, CAM_PROFILE_OPTION_PARABOLIC);