MC_CamStartPos

 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 starting 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.
Slave	AXIS_REF	AXIS_NUM - 1, 256	N/A	No default	Slave axis.
MasterOffset	LREAL	No range	User units	No default	Master axis offset. This input is not used if the StartMode input is set to 1 for Resume Mode.
SlaveOffset	LREAL	No range	User units	No default	Slave axis offset. This input is not used if the StartMode input is set to 1 for Resume Mode.
MasterScaling	LREAL	No range	User units	No default	Master axis scale factor. Scaling must be a positive value greater than 0 (zero).
SlaveScaling	LREAL	No range	User units	No default	Slave axis scale factor. Scaling must be a positive value greater than 0 (zero).
CamTableID	INT	0, 255	N/A	No default	Profile ID number. This value is generated by MC_CamTblSelect.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	No range	N/A	TRUE = the 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 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.

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.

• This function block returns the slave axis position for the specified profile, based on the current position of the master axis.
  • This slave axis position can be used to command the slave axis to move to the proper location prior to commanding a MC_CamIn move with StartMode = 0 (Start mode).
• The typical application of MC_CamStartPos is to aid in positioning a slave axis to its starting position for a MC_CamIn move with a slave absolute profile.
• See Positioning an Axis Before Starting Camming for instructions.

Figure 1: MC_CamStartPos

FBD Language Example

FFLD Language Example

IL Language Example

            CAL Inst_MC_CamStartPos( TRUE, Axis1, Axis2, MasterOffset, SlaveOffset, MasterScale, SlaveScale, Profile1CamTable ID)

ST Language Example

Inst_MC_CamStartPos( TRUE, Axis1, Axis2, MasterOffset, SlaveOffset, MasterScale, SlaveScale, Profile1CamTableID);