MC_CamResumePos

PLCopen motion icon

 Function Block - Returns the slave axis position for resuming an MC_CamIn move.

Inputs

Input

Data Type

Range

Unit

Default

Description

Enable

BOOL

FALSE, TRUE

N/A

No default

Enables execution.

Master

AXIS_REF

AXIS_NUM - 1 to 256

N/A

No default

Master axis.

This must be the same as the Master Axis specified for the most recently executed MC_CamIn function block.

Slave

AXIS_REF

AXIS_NUM - 1 to 256

N/A

No default

Slave axis.

This must be the same as the Slave Axis specified for the most recently executed MC_CamIn function block.

CamTableID

INT

0 to 255

N/A

No default

Profile ID number.

  • This value is generated by MC_CamTblSelect.
  • This must be the same as the CamTableID specified for the most recently executed MC_CamIn function block.

Outputs

Output

Data Type

Range

Unit

Description

Done

BOOL

FALSE, TRUE

N/A

TRUE = the function block has successfully calculated the slave position.

The slave position is available at the SlavePos output.

Error

BOOL

FALSE, TRUE

N/A

TRUE = an invalid input was specified or an error occurred in the calculations.

The value at the SlavePos output is undefined.

ErrorID

INT

No range

N/A

Indicates the error if the Error output is set to TRUE.

See PLCopen Function Block ErrorIDs.

SlavePos

LREAL

No range

User units

If the Done output is TRUE, this output returns the:

  • position for the slave axis given the profile.
  • current master axis position.
  • previously programmed master and slave offsets and scaling.

Remarks

  • 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 utilizes 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 Resume Camming After an E-Stop for instructions.

Figure 1: MC_CamResumePos

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

Inst_MC_CamResumePos( TRUE, Axis1, Axis2, Profile1CamTableID);

See Also