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

Block that selects a cam table of a CAM curve previously programmed through the tool CAM Profiles.

Ladder Representation

MC_CamTableSelect_block

Execution Features

Program Memory Size	44 Bytes
Data Memory Size	16 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) (1 - Virtual 1 axis)
	CamTable	WORD	CAM table code
VAR_INPUT	Execute	BOOL	Block enabling
VAR_INPUT	Periodic	BOOL	Control of the request execution (0 - Single execution) (1 - Periodic execution)
VAR_OUTPUT	Done	BOOL	Output enabling
	Busy	BOOL	Flag indicating the block has not yet been ended
	Error	BOOL	Error in the execution flag
	ErrorID	WORD	Identifier of the occurred error
	CamTableID	WORD	Selected CAM table
VAR	MC_CAMTABLESELECT_INST_0	MC_CAMTABLESELECT	Instance of access to block structure

Operation

When this block detects a leading edge in Execute, it searches the specified table in CamTable so that it can be used by the MC_CamIn block.

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
83	Invalid file of the CAM curve cam table.
84	Invalid Cam Table. Cam Table must be from 1 to 10.

Example in Ladder

MC_CamTableSelect_example02

In the up transition of CAMSEL_EXECUTE the MC_CamTableSelect block is executed and, thus, the cam table selected in CAM_INDEX can be used by the MC_CamIn block.

To execute the block, the Done output and CAMSEL_DONE are set and remain at TRUE level while the Execute input is set.

In this example, CAMSEL_DONE ensures that the MC_CamIn block will not be activated before the MC_CamTableSelect block is executed successfully.

Example in ST

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

VAR

CAMSEL_EXECUTE, CAMSEL_DONE, CAMIN1_EXECUTE, CAMIN1_DONE : BOOL;

CAM_INDEX, CAM_SELECTED : WORD;

MC_CAMTABLESELECT_INST_0 : FB_MC_CamTableSelect;

MC_CAMIN_INST_0 : FB_MC_CamIn;

END_VAR

MC_CAMTABLESELECT_INST_0.Execute := CAMSEL_EXECUTE;

MC_CAMTABLESELECT_INST_0(

Master:=0,

Slave:=0,

CamTable:=CAM_INDEX,

Periodic:=0);

CAM_SELECTED := MC_CAMTABLESELECT_INST_0.CamTableID;

CAMSEL_DONE := MC_CAMTABLESELECT_INST_0.Done;

MC_CAMIN_INST_0.Execute := CAMIN1_EXECUTE AND CAMSEL_DONE;

MC_CAMIN_INST_0(

Master:=0,

Slave:=0,

MasterScaling:=1.0,

SlaveScaling:=1.0,

MasterSyncPosition:=LREAL#0.0,

CamTableID:=CAM_SELECTED,

BufferMode:=0);

CAMIN1_DONE := MC_CAMIN_INST_0.InSync;