MC_CamResumePos

 Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Returns the slave axis position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. for resuming an MC_CamIn move.

Inputs

Input	Data Type	Range	Unit	Default	Description
Enable Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive.	BOOL	N/A	N/A	No default	Enables execution.
Master	AXIS_REF	AXIS_NUM - 1, 256	N/A	No default	Master axis. This must be the same as the Master Axis specified for the most recently executed MC_CamIn 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. block.
Slave	AXIS_REF	AXIS_NUM - 1, 256	N/A	No default	Slave axis. This must be the same as the Slave Axis specified for the most recently executed MC_CamIn function block.
CamTableID	INT	0, 255	N/A	No default	Profile ID number. This value is generated by MC_CamTblSelect. This must be the same as the CamTableID specified for the most recently executed MC_CamIn function block.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	No range	N/A	TRUE = the function block has successfully calculated the slave position. The slave position is available at the SlavePos output.
Error	BOOL	No range	N/A	TRUE = an invalid input was specified or an error occurred in the calculations. The value at the SlavePos output is undefined.
ErrorID	INT	No range	N/A	Indicates the error if the Error output is set to TRUE. See PLCopen Function Block ErrorIDs.
SlavePos	LREAL	No range	User units	If the Done output is TRUE, this output returns the: position for the slave axis given the profile. current master axis position. previously programmed The act of performing a sequence of instructions or commands. master and slave offsets and scaling.

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.

• Returns the slave axis position for the most recently executed MC_CamIn profile, based on the current position of the master axis.
  • This slave axis position can be used to command the slave axis to return to the proper location prior to resuming a MC_CamIn function.
  • When calculating the slave axis position, MC_CamResumePos utilizes the master offset, slave offset, master scaling, and slave scaling of the most recently executed MC_CamIn function block for the slave axis.
• The typical application of MC_CamResumePos is to aid in returning a slave axis back to its profile position after an event (e.g., E-stop) caused the slave axis to go off path Set of continuous positions and orientation information in multi-dimensional space. Geometrical description of a space curve that the TCP of an axesgroup moves along..
• See Resume Camming After an E-Stop for instructions.

Figure 1: MC_CamResumePos

FBD Language Example

FFLD Language Example

IL Language Example

            CAL Inst_MC_CamResumePos( TRUE, Axis1, Axis2, Profile1CamTable ID)

ST Language Example

Inst_MC_CamResumePos( TRUE, Axis1, Axis2, Profile1CamTableID);

See Also

• MC_CamIn
• MC_CamStartPos