Equipments (Devices) > SCA06 > Ladder > Motion Control > Motion Control Cam > MC

Block responsible for the execution of a defined positioning a cam table of a curve CAM.

Ladder Representation

MC_CamIn_block

Execution Features

Program Memory Size	92 Bytes
Data Memory Size	52 Bytes

Block Structure

Variable Type	Name	Data Type	Description
VAR_IN_OUT	Master	BYTE	Selection of operation master (0 - Fast digital inputs) (1 - CANopen) (2 - Encoder 1) (3 - Virtual Axis) (4 - Encoder 2)
	Slave	BYTE	Selection of operation slave (0 - Real axis)
VAR_INPUT	Execute	BOOL	Block enabling
	MasterScaling	REAL	Gain in the position values of the master axis.
	SlaveScaling	REAL	Gain in the position values of the slave axis.
	MasterSyncPosition	LREAL	Position of the master axis where the slave will start the CAM curve.
	CamTableID	WORD	Selected CAM table
	BufferMode	BYTE	Execution start mode (0 - Starts block immediately, if there is another block in the execution it will be aborted) (1 - When another block is in execution, the block in execution will continue its motion until the end and this new block will wait to be executed.) (6 – If another block is in execution, this block will go into error 52 and will not be executed. The HMI will show the alarm A00052.)
VAR_OUTPUT	InSync	BOOL	Output enabling
	Busy	BOOL	Flag indicating the block has not yet been ended
	Active	BOOL	Block flag with control on the axis
	CommandAborted	BOOL	Flag of aborted command
	Error	BOOL	Error in the execution flag
	ErrorID	WORD	Identifier of the occurred error
	EndOfProfile	BOOL	End of the CAM profile flag
VAR	MC_CAMIN_INST_0	MC_CAMIN	Instance of access to block structure

Operation

When this block detects a leading edge in Execute, it sends a command for the drive to execute a defined positioning by CamTableID.

When Execute has FALSE value, Done remains FALSE. The Done output is activated when the block finishes the execution successfully, remaining at TRUE level until Execute receives FALSE.

If there is any error in the execution, the Error output is enabled and ErrorID displays an error code according to the table below.

Code	Description
52	Attempt to execute block with BufferMode in Single when another block is active.
67	Drive in the "Disabled" or "Errorstop" status.
69	Drive in the "Stopping" status.
70	Attempt to execute block with BufferMode in Buffered when another block is active and another block is waiting.
71	P202 different from 4.
74	Drive in the "Homing" status.
78	MC block not executed – Internal fault.
85	CamTableID not valid.

Example in Ladder

In the up transition of CAMCALC_EXECUTE, the MW_CamCalc block is executed and the cam table of NUM_OF_TABLE will be calculated according to the block arguments.

When the calculation of cam table 11 is finished, the InSync output is set while the Execute input remains set.

With the CAMCALC_DONE set, the MC_CamIn block can be executed.

In the up transition of CAMIN1_EXECUTE, the first MC_CamIn block is executed.

If it is necessary to adjust the cam table of the CAM curve, just make the adjustment in MASTER_PT[0], MASTER_PT[1], SLAVE_PT[0] and SLAVE_PT[1], change the content of NUM_OF_TABLE to 12 and execute the MW_CamCalc block again.

Example in ST

The example below displays the instructions for applying the example above in the ST language.

VAR

CAMCALC_EXECUTE, CAMCALC_DONE, CAMIN1_EXECUTE,

CAMIN1_DONE : BOOL;

NUM_OF_TABLE, PTS_OF_ARRAY : WORD;

CAMTABLEID : UINT;

CURVE_ARRAY : ARRAY [0..1] OF WORD;

M_PTS_ARRAY, S_PTS_ARRAY : ARRAY [0..1] OF LREAL;

MW_CAMCALC_INST_0 : FB_MW_CamCalc;

MC_CAMIN_INST_0 : FB_MC_CamIn;

END_VAR

M_PTS_ARRAY[0] := FB_WORD_TO_LREAL(PAR_1050);

M_PTS_ARRAY[1] := FB_WORD_TO_LREAL(PAR_1050);

S_PTS_ARRAY[0] := FB_WORD_TO_LREAL(PAR_1050);

S_PTS_ARRAY[1] := FB_WORD_TO_LREAL(PAR_1050);

CURVE_ARRAY[0] := FB_STORE(WORD#0);

CURVE_ARRAY[1] := FB_STORE(WORD#1);

MW_CAMCALC_INST_0.Execute := CAMCALC_EXECUTE;

MW_CAMCALC_INST_0(

Master:=0,

Slave:=0,

CamTable:=NUM_OF_TABLE,

NumberOfPoints:=PTS_OF_ARRAY,

MasterPoints:=M_PTS_ARRAY,

SlavePoints:=S_PTS_ARRAY,

CurveType:=CURVE_ARRAY,

Periodic:=0);

CAMTABLEID := MW_CAMCALC_INST_0.CamTableID;

CAMCALC_DONE := MW_CAMCALC_INST_0.InSync;

MC_CAMIN_INST_0.Execute := CAMIN1_EXECUTE AND CAMCALC_DONE;

MC_CAMIN_INST_0(

Master:=3,

Slave:=0,

MasterScaling:=1.0,

SlaveScaling:=1.0,

MasterSyncPosition:=LREAL#0.0,

CamTableID:=11,

BufferMode:=1);

CAMIN1_DONE := MC_CAMIN_INST_0.InSync;