MC_CamOut

 Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Disengages the slave axis from a MC_CamIn move.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	On the rising edge A rising edge is the transition of a digital signal from low to high. It is also called positive edge, request to queue the move.
Slave	AXIS_REF	1, 256	N/A	No default	Name of a declared instance of the AXIS_REF library function. See Axis Name and Number for more information. See AXIS_REF Structure for more information.
Acceleration	LREAL	No range	User unit/sec2	No default	Trapezoidal: Acceleration rate. S-curve: Maximum acceleration. See S-curve and Trapezoidal Acceleration / Deceleration for more information.
Deceleration	LREAL	No range	User unit/sec2	No default	Trapezoidal: Deceleration rate. S-curve: Unused. See S-curve and Trapezoidal Acceleration / Deceleration for more information.
Jerk In physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time	LREAL	No range	User unit/sec3	No default	Trapezoidal: 0 (zero). S-curve: Constant jerk In physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time. See S-curve and Trapezoidal Acceleration / Deceleration for more information.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	0, 1	N/A	Indicates the axis is disengaged from its master.
Busy	BOOL	0, 1	N/A	Indicates this function block is executing.
Active	BOOL	0, 1	N/A	Indicates this move is the Active move.
CommandAborted	BOOL	0, 1	N/A	Indicates the move was aborted.
Error	BOOL	0, 1	N/A	Indicates either: An invalid input was specified. No MC_CamIn move was active.
ErrorID	INT	No range	N/A	When the Error output is: high, this output indicates the type of error. low, this output is undefined. See PLCopen Function Block ErrorIDs for more information.

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.

• See Function Blocks - General Rules for more information about how inputs and outputs work.
• 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.
• This function block:
  • Aborts the active MC_CamIn move.
  • Disengages the axis from its master.
  • Disengages the slave axis from a MC_CamIn move.
  • Commands the axis to continue at its current velocity.
    • The axis continues to run at this velocity until this MC_CamOut move is aborted.

• 
  

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

Cancel the Cam Motion

• An alternative method to cancel the cam motion is a single axis move (MC_MoveAbsolute, MC_MoveRelative, MC_MoveAdditive, MC_MoveVelocity, and MC_Halt) with the BufferMode input set to 0 (zero).
  • This cancels the MC_CamIn function and starts the new motion function on the slave axis.
• Many applications prefer calling MC_Halt instead of MC_CamOut because it does not send a velocity command to the slave axis.

Figure 6-246: MC_CamOut

FBD Language Example

Not available.

FFLD Language Example

IL Language Example

Not available.

ST Language Example

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

See Also

• Call a Function Block
• Differences between Functions and Function Blocks
• MC_CamIn
• MC_CamTblSelect