MLProfileBuild

PLCopen motion icon Pipe Network motion icon

 Function - Creates a CAM Profile from application data that can be executed by a CAM block in Pipe Network or PLCopen.

Inputs

Input

Data Type

Range

Unit

Default

Description

Enable

BOOL

FALSE, TRUE

N/A

No default

Enables execution.

Starts on the rising edge.

Cam_Props

CamProps_ref

No range

N/A

No default

Structures containing the CAM Profile properties.

Cam_Data

CamData_ref

N=3 to 20,000 elements

N/A

No default

Array of structures containing the CAM Profile data.

CamDataCount

UINT

3 - 20,000

Elements

No default

Number of elements in the Cam_Data array to be used.

ProfileID

DINT

-2147483648 to 2147483647

N/A

No default

ID number of an initialized CAM Profile.

Cyclic

BOOL

FALSE, TRUE

N/A

No default
  • FALSE: One time through the profile.
  • TRUE: Repeating profile.

Options

INT
  • CAM_PROFILE_OPTION_DEFAULT: Allows the use of point and line segments.
  • CAM_PROFILE_OPTION_PARABOLIC: Allows the use of line and parabolic segments.

  • The DEFAULT and PARABOLIC options cannot be combined.
    A CAM Profile can only use point and line segments, or parabolic and line segments.
    Point and parabolic segments cannot both be used in the same profile.

N/A

No default

Describes the combinations of segments that can be used to build a cam profile.

Outputs

Output

Data Type

Range

Unit

Description

Done

BOOL

FALSE, TRUE

N/A

Indication of whether or not the profile was successfully compiled and built.

Busy

BOOL

FALSE, TRUE

N/A

Indication that the function block is executing.

  • TRUE if executing.
  • FALSE if not executing.

Err

BOOL

FALSE, TRUE

N/A

Indication that the function did not execute correctly.

ErrorID output is valid and indicate the reason.

ErrorID

INT

No range

N/A

Indicates the reason for the failure.

See the Error Codes table.

ErrorElem

UINT

No range

N/A

The array element number of the CAM data where an error is detected.

Remarks

  • This function block takes input as CAM data and CAM Profile properties from application data memory and compile the input data to a form the controller can use to calculate cam positions.
  • The input CAM data and CAM Profile properties are similar to the CAM data entered in the IDE’s CAM Editor and the runtime’s CAM Profile Properties dialog.

MLProfileBuild internally performs these functions:

  1. Compile the CAM data (like the cam editor performs in the IDE).
  2. Puts the compiled profile into the profile object so it can be used by other Profile Function Blocks.
    Provides similar functionality to MLProfileInit.

  • Prior to using MLProfileBuild, you must call MLProfileCreate to create the profile object.
    The ID output of MLProfileCreate is used as the ProfileID input to MLProfileBuild.
    MLProfileCreate must be performed in the application before the MLMotionStart command is executed.

  • MLProfileBuild compiles the CAM Profile data specified at the CamData input and writes the resulting profile to the CAM Profile object specified at input ProfileID.
  • The created profile can be used as an input to PLCopen CAM Function Blocks (e.g., MC_CamTblSelect, MC_CamIn, MC_CamOut), or any Pipe Network CAM Profile Function/Function Blocks.
  • When the operation is complete, the Done output is high.
    • If an error is encountered, the Error output is high and the ErrorID output returns an error code.
    • If the Error can be attributed to a specific profile element in the CamData array, ErrorElem attempts to indicate the element in error.

CamProps_Ref Structure

See Master/Input offset about the parameters which transform the CAM Profile.

The CAM properties structure (CamProps_Ref) contains these data members:

Parameter

Type

Description

InputScale

LREAL

The input amplitude or master axis multiplier applied to the CAM Profile.

OutputScale

LREAL

The output amplitude or slave axis multiplier applied to the CAM Profile.

InputOffset

LREAL

input offset or master axis shift applied to the CAM Profile.

OutputOffset

LREAL

The output offset or slave axis shift applied to the CAM Profile.

CamData_Ref Structure

The Cam_Data function block input is an array of CamData_Ref structures.

Each element of the structure contains these data members:

Parameter

Type

Description

Accel

LREAL

CAM_SEGMENT_TYPE_POINT

  • Accel represents the cam acceleration at the master position specified by MasterIn.
  • Units: (slave position user units) / (master position user units)

CAM_SEGMENT_TYPE_LINE and CAM_SEGMENT_TYPE_PARABOLIC

  • Accel is ignored.

MasterIn

LREAL

Master position (in the unit range [0 - InputScale]).

SegType

UINT

Defines the segment type for the segment following the master positions defined by MasterIn.

  1. CAM_SEGMENT_TYPE_POINT = Point 5th order polynomial).
  2. CAM_SEGMENT_TYPE_LINE = Line (constant velocity segment).
  3. CAM_SEGMENT_TYPE_PARABOLIC = Parabolic (constant acceleration).

See Cam Profile Segment Overview about the segment types.

SlaveOut

LREAL

Slave position (in the unit range [0 - OutputScale]).

Vel

LREAL

CAM velocity at the master position specified by MasterIn.

Units: (slave position user units) / (master position user units)
  • The type of the Nth CAM segment is defined by the Nth Cam_Data element.
  • The CAM is constructed with one less segment than the Cam_Data elements.
    • The last element's SegType is not used.
  • See CAM Profile Editor's CAM Table.

Figure 1: MLProfileBuild Cam Segments graph

Error Codes


  • If Cyclic is TRUE and the Vel/Accel of the first and last elements do not match, MLProfileBuild automatically copies the first element's Vel/Accel to the last element's.
    A log warning message is posted indicating that this change has occurred.

ErrorID

Description

100

Cam_Data array does not have CamDataCount elements.

The Cam_Data array is not large enough to hold the specified number of elements.

101

Invalid master or slave scale.

The scale cannot be less than zero.

102

Element master or slave position is outside the range defined by Cam_Props.

103

A segment type was specified that is not supported by the value of the Options argument.

104

Master position of an element is too close to the master position of a previous element.

  • 0.0000125 * InputScale is the minimum distance allowed.
  • Each element is compared to all previous elements.
  • If the master distance between any two elements in the list are too close, this error is generated.

106

Invalid ProfileID.

This can occur if the ProfileID:

  • Does not exist.
  • Has not been created yet.
  • The ProfileID is not a profile.

107

CamDataCount exceeds maximum array size of 20,000.

108

Profile cannot be released because it is in use by the motion engine or currently selected by an active CAM block.

109

Attempting to build a profile already containing elements.

Profile needs to be released first using MLProfileRelease.

110

The controller is running low on memory and could not allocate memory to hold the cam table data.

111

CamDataCount is not large enough.

The minimum allowed value is 3.

112

CAM_PROFILE_OPTION_PARABOLIC

  • Elements are not sorted in increasing order by master position.
  • After the first element, each element must have its master position be greater than the master position of the previous element.

113

CAM_SEGMENT_TYPE_PARABOLIC

  • The average velocity for the segment is outside of range defined by start and end element velocities.
  • This diagram illustrates the valid range for the average velocity:

Figure 2: MLProfileBuild Cam Velocity Profile graph

200

First element's MasterIn value not equal to zero.

201

Last element's MasterIn value does not equal value of X-amplitude.

202

Cannot modify the first element in the cam element table.

SlaveOut value is outside the output range specified by Cam_Props.

203

Cannot modify the last element in the cam element table.

SlaveOut value is outside the output range specified by Cam_Props.

Example: Use MLProfileBuild

This example has these procedure steps:

1. Create a Profile


  • Prior to using MLProfileBuild, you must first create a profile.
    This must be done prior to MLMotionStart.
            // Allocate space for a profile that will be built later
            
profileID := MLProfileCreate('ProfileName');

2. Define the Profile Data

  1. Create an array of CamData_Ref structures in the data dictionary.
  2. Enter each of the elements into that newly created structure.
    In this example, ProfileData is the name of the CamData_Ref structure.
            // Define the profile data
ProfileData[0].MasterIn := 0.0;
ProfileData[0].SlaveOut := 180.0;
ProfileData[0].SegType := CAM_SEGMENT_TYPE_POINT;
ProfileData[0].Velocity := 0.0;
ProfileData[0].Acceleration := 0.0;

ProfileData[1].MasterIn := 180.0;
ProfileData[1].SlaveOut := 324.0;
ProfileData[1].SegType := CAM_SEGMENT_TYPE_POINT;
ProfileData[1].Velocity := 0.5;
ProfileData[1].Acceleration := -0.025;

ProfileData[2].MasterIn := 360.0;
ProfileData[2].SlaveOut := 240.0;
ProfileData[2].SegType := CAM_SEGMENT_TYPE_POINT;
ProfileData[2].Velocity := 0.0;
ProfileData[2].Acceleration := 0.0;

3. Define the Profile Properties

  1. Create a CamProps_Ref structure in the data dictionary.
  2. Enter each of the properties into the newly created structure.
    In this example, ProfileProps is the name of the CamProps_Ref structure.
            // Define the profile properties
ProfileProps.InputScale := 360.0;  // Must be Positive!
ProfileProps.OutputScale := 360.0; // Must be Positive!
ProfileProps.InputOffset := 0.0;
ProfileProps.OutputOffset := 0.0;

4. Call the MLProfileBuild Function Block

Use the IEC language of choice.

As part of this call it is recommended that you validate the Done and Error output before proceeding.

            // Build the profile
Inst_MLProfileBuild( TRUE, ProfileProps, ProfileData, 3, ProfileID, TRUE, CAM_PROFILE_OPTION_DEFAULT);

5. Use the New Profile

After verifying that MLProfileBuild is Done and there are no errors, you can use the newly generated profile.

The next step depends on the motion engine in use. 

            // Switch Pipe Network Profile
MLPrfWriteIScale(profileID, ProfileProps.InputScale);
MLPrfWriteOScale(profileID, ProfileProps.OutputScale);
MLPrfWriteIOffset(profileID, ProfileProps.InputOffset);
MLPrfWriteOOffset(profileID, ProfileProps.OutputOffset);
MLCamSwitch(PipeNetwork.CAM, profileID);

Example: Building a Parabolic Cam Profile

To build a parabolic CAM Profile, your CAM data elements must use CAM_SEGMENT_TYPE_PARABOLIC or CAM_SEGMENT_TYPE_LINE when defining the cam data array.

            // Define the profile data
ProfileData[0].MasterIn     := 0.0;
ProfileData[0].SlaveOut     := 0.0;
ProfileData[0].SegType      := CAM_SEGMENT_TYPE_PARABOLIC;
ProfileData[0].Velocity     := 0.0;
ProfileData[0].Acceleration := 0.5;

ProfileData[1].MasterIn     := 50.0;
ProfileData[1].SlaveOut     := 150.0;
ProfileData[1].SegType      := CAM_SEGMENT_TYPE_LINE;
ProfileData[1].Velocity     := 5.0;
ProfileData[1].Acceleration := 0.0;		// Not used

ProfileData[2].MasterIn     := 55.0;
ProfileData[2].SlaveOut     := 175.0;
ProfileData[2].SegType      := CAM_SEGMENT_TYPE_PARABOLIC;
ProfileData[2].Velocity     := 5.0;
ProfileData[2].Acceleration := 0.0;		// No limit to the acceleration rate of the segment.

ProfileData[3].MasterIn     := 105.0;
ProfileData[3].SlaveOut     := 250.0;
ProfileData[3].SegType      := CAM_SEGMENT_TYPE_PARABOLIC;
ProfileData[3].Velocity     := 0.0;
ProfileData[3].Acceleration := 0.5;

ProfileData[4].MasterIn     := 225.0;
ProfileData[4].SlaveOut     := 125.0;
ProfileData[4].SegType      := CAM_SEGMENT_TYPE_PARABOLIC;
ProfileData[4].Velocity     := -10.0;
ProfileData[4].Acceleration := 0.5;

ProfileData[5].MasterIn     := 360.0;
ProfileData[5].SlaveOut     := 0.0;
ProfileData[5].SegType      := CAM_SEGMENT_TYPE_PARABOLIC;	// Not used
ProfileData[5].Velocity     := 0.0;
ProfileData[5].Acceleration := 0.0;		// Not used
  • When calling the MLProfileBuild function block, verify CAM_PROFILE_OPTION_PARABOLIC is specified for the Option argument: in the IEC language of choice.
  • As part of this call, it is recommended that you validate the Done and Error output before proceeding.
// Build the profile
Inst_MLProfileBuild( TRUE, ProfileProps, ProfileData, 3, ProfileID, TRUE, CAM_PROFILE_OPTION_PARABOLIC);

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

            // Build the profile
Inst_MLProfileBuild( TRUE, ProfileProps, ProfileData, 3, ProfileID, TRUE, CAM_PROFILE_OPTION_DEFAULT);

See Also