MC_CamOut

Description

This function block:

• aborts the active MC_CamIn move
• disengages the axis from its master
• and commands the axis to continue at its current velocity

• 
  

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

Like a MC_MoveVelocity move, the control continues to command the axis to move at this velocity until this MC_CamOut move is aborted. 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.

• 
  

• As an alternative method to cancel the cam motion, a single axis move (MC_MoveAbsolute, MC_MoveRelative, MC_MoveAdditive, MC_MoveVelocity, and MC_Halt) with the buffermode input set to 0 can be called. This will cancel the MC_CamIn function and start the new motion function on the slave axis. Many applications prefer calling MC_Halt instead of MC_CamOut because it will not send a velocity command to the slave axis.

Figure 8-136: MC_CamOut

• 
  
• This function block starts a motion-related action and therefore stores data for calculations and error checking. Please see Calling Function Blocks Multiple Times in the Same Cycle if you are using a dual-core controller.

Arguments

For more detail on how inputs and outputs work, refer to PLCopen Function Blocks - General Rules

Input

Execute	Description	Requests to queue the CamOut move
	Data type	BOOL
	Range	0, 1
	Unit	n/a
	Default	—
Slave	Description	Name of a declared instance of the AXIS_REF library function (for more details, About Axis Name and Number)
	Data type	AXIS_REF
	Range	1 – 256
	Unit	n/a
	Default	—
Acceleration	Description	Trapezoidal: Acceleration rate S-curve: Maximum acceleration
	Data type	LREAL
	Range	—
	Unit	User unit/sec2
	Default	—
Deceleration	Description	Trapezoidal: Deceleration rate S-curve: Unused
	Data type	LREAL
	Range	—
	Unit	User unit/sec2
	Default	—
JerkIn physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time	Description	Trapezoidal: 0 S-curve: Constant jerkIn physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time
	Data type	LREAL
	Range	—
	Unit	User unit/sec3
	Default	—

Output

Done	Description	Indicates the axis is disengaged from its master
	Data type	BOOL
	Range	0, 1
	Unit	n/a
Busy	Description	Indicates this function block is executing
	Data type	BOOL
	Range	0, 1
	Unit	n/a
Active	Description	Indicates this move is the Active move
	Data type	BOOL
	Range	0, 1
	Unit	n/a
CommandAborted	Description	Indicates the move was aborted
	Data type	BOOL
	Range	0, 1
	Unit	n/a
Error	Description	Indicates an invalid input was specified or no MC_CamIn move was active
	Data type	BOOL
	Range	0, 1
	Unit	n/a
ErrorID	Description	Indicates the error if the Error output is high See table in PLCopen Function Block ErrorID Output
	Data type	INT
	Range	—
	Unit	n/a

Usage

This function block disengages the slave axis from a MC_CamIn move and then leaves the axis running at its current velocity. The axis continues to run at this velocity until this move is aborted.

Related Functions

MC_CamIn

MC_CamTblSelect

Example

Structured Text

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

Ladder Diagram

 

See also MC_CamIn for examples.

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