Resume Camming After an E-Stop
The MC_CamResumePos function block
A function block groups an algorithm and a set of private data.
It has inputs and outputs. is used to return a slave axis to its profile 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. after an event (such as an 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..
To return a slave axis to its MC_CamIn profile position, the typical programming The act of performing a sequence of instructions or commands. sequence is:
- With the master axis at standstill, call MC_CamResumePos to determine the profile position for the slave axis.
- Call MC_MoveAbsolute to move the slave axis to the position calculated by MC_CamResumePos.
- Call MC_CamIn with
StartMode = 1(Resume mode).
