Function BlockMC_CamResumePosPLCopen motion icon

Description

This function block 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 will utilize 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. See Resuming Camming After an E-Stop for complete instructions.

Figure 7-148: MC_CamStartPos

Related Functions

MC_CamIn

MC_CamStartPos

Arguments

Inputs

Enable Description Enables execution of the function block
  Data Type BOOL
  Range N/A
  Units N/A
  Default
Master Description Master axis. This must be the same as the Master Axis specified for the most recently executed MC_CamIn function block.
  Data Type AXIS_REF
  Range [1,256] for .AXIS_NUM
  Units N/A
  Default
Slave Description Slave axis. This must be the same as the Slave Axis specified for the most recently executed MC_CamIn function block.
  Data Type AXIS_REF
  Range [1,256] for .AXIS_NUM
  Units N/A
  Default
CamTableID Description Profile ID number. This value was generated by MC_CamTblSelect. This must be the same as the CamTableID specified for the most recently executed MC_CamIn function block.
  Data Type INT
  Range [0,255]
  Units N/A
  Default

Outputs

Done Description TRUE = the function block has successfully calculated the slave position. The slave position is available at the SlavePos output.
  Data Type BOOL
  Units N/A
Error Description TRUE = an invalid input was specified or an error occurred in the calculations. The value at the SlavePos output is undefined.
  Data Type BOOL
  Units N/A
ErrorID Description Indicates the error if Error output is set to TRUE. See table in PLCopen Function Block ErrorID Output
  Data Type INT
  Units N/A
SlavePos Description If the Done output is TRUE, this output returns the position for the slave axis given the profile, the current master axis position, and the previously programmed master and slave offsets and scaling.
  Data Type LREAL
  Units User Units

Examples

ST

Inst_MC_CamStartPos( TRUE, Axis1, Axis2, Profile1CamTableID);

IL

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

FBD

FFLD

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