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.

MC_CamOut

Figure 7-147: 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

MC_CamOut: LD example