MC_CamOut

PLCopen motion icon

Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Disengages the slave axis from an MC_CamIn move or the master axis immediately in a cam block.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	On the rising edge The transition of a digital signal from low to high. AKA: positive edge., request to queue the move.
Slave	AXIS_REF	1, 256	N/A	No default	Name of a declared instance of the AXIS_REF library function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances.. See Axis Name and Number. See AXIS_REF Structure.
Acceleration A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics)	LREAL	No range	User unit/sec²	No default	Trapezoidal: Acceleration rate. S-curve: Maximum acceleration. See S-curve and Trapezoidal Acceleration / Deceleration.
Deceleration	LREAL	No range	User unit/sec²	No default	Trapezoidal: Deceleration rate. S-curve: Unused. See S-curve and Trapezoidal Acceleration / Deceleration.
Jerk In physics, jerk is the rate of change of acceleration. More precisely, the derivative of acceleration with respect to time.	LREAL	No range	User unit/sec³	No default	Trapezoidal: 0 (zero). S-curve: Constant jerk. See S-curve and Trapezoidal Acceleration / Deceleration.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	0, 1	N/A	Indicates the axis is disengaged from its master.
Busy	BOOL	0, 1	N/A	Indicates this function block is executing.
Active	BOOL	0, 1	N/A	Indicates this move is the Active move.
CommandAborted	BOOL	0, 1	N/A	Indicates the move was aborted.
Error	BOOL	0, 1	N/A	Indicates either: An invalid input was specified. No MC_CamIn move was active.
ErrorID	INT	No range	N/A	When the Error output is: high, this output indicates the type of error. low, this output is undefined. See PLCopen Function Block ErrorIDs.

Remarks

This function block starts a motion-related action and stores data for calculations and error checking.
See Call Function Blocks Multiple Times in the Same Cycle if using a dual-core controller.

See Function Blocks - General Rules about how inputs and outputs work.
If this function block is called and the active move is not a MC_CamIn move, this function block returns an error and the active move is not aborted.
This function block:
- Aborts the active MC_CamIn move.
- Disengages the axis from its master.
- Disengages the slave axis from a MC_CamIn move.
- Commands the axis to continue at its current velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP.
  - The axis continues to run at this velocity until this MC_CamOut move is aborted.

The current velocity is calculated by taking the average of the actual velocity during the previous 16 cycles.

Cancel the Cam Motion

An alternative method to cancel the cam motion is a single axis move (MC_MoveAbsolute, MC_MoveRelative, MC_MoveAdditive, MC_MoveVelocity, and MC_Halt) with the BufferMode input set to 0 (zero).
- This cancels the MC_CamIn function and starts the new motion function on the slave axis.
Many applications prefer calling MC_Halt instead of MC_CamOut because it does not send a velocity command to the slave axis.

Figure 1: MC_CamOut

FBD Language Example

Not available.

FFLD Language Example

IL Language Example

Not available.

ST Language Example

(* MC_CamOut ST example *)
Inst_MC_CamOut(ExecCamOut1,Axis1,CamOut1Acc,CamOut1Dec,CamOut1Jerk);
//Inst_MC_CamOut is an instance of MC_CamOut