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

This block calculates a cam table of the CAM curve.

Ladder Representation

MW_CamCalc_block

Execution Features

Program Memory Size	66 Bytes
Data Memory Size	24 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)
	CamTable	WORD	CAM table code
VAR_INPUT	Execute	BOOL	Block enabling
	NumberOfPoints	WORD	Number of points of the table
	MasterPoints	LREAL	Points of the master
	SlavePoints	LREAL	Points of the slave
	CurveType	WORD	Type of curve
	Periodic	BOOL	Control of the request execution (0 - Single execution) (1 - Periodic execution)
VAR_OUTPUT	InSync	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	MW_CAMCALC_INST_0	MW_CAMCALC	Instance of access to block structure

Operation

When this block detects a leading edge in Execute, it builds the specified table in CamTable with the programmed data 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 11 to 20.
86	Number of points above the programmed in the CAM PROFILES configurator.
87	Invalid position of the master axis. The position of the master axis must be greater than the position of the previous point.
88	MW_CamCalc block in execution. Is only allowed the execution of an MW_CamCalc block at a time.
89	Cam table in use by the MC_CamIn block.
90	Double marker with position of the nonexistent master axis.
91	Double marker with position of the nonexistent slave axis.
92	Word marker with nonexistent curve type.

Example in Ladder

MW_CamCalc_example02

MW_CamCalc_example03

In the transition from 0 to 1 of bit marker CAMCALC_EXECUTE, the MW_CamCalc block is executed and the cam table of TABLE will be calculated according to the block arguments.

In this example, the number of points of the curve will be contents of the NUM_POINTS, the position of the master axis will be in accordance with the contents of MASTER_POINTS [0] and MASTER_POINTS [1], the position of the slave axis will be in accordance with the contents of SLAVE_POINTS [0] and SLAVE_POINTS [1] and the type of curve will be in accordance with the contents of CURVE_TYPE [0] and CURVE_TYPE[1].

Entering the same values in the tool, we can observe the curve below:

MW_CamCalc_example04

When the calculation of the 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.

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_1051);

S_PTS_ARRAY[0] := FB_WORD_TO_LREAL(PAR_1052);

S_PTS_ARRAY[1] := FB_WORD_TO_LREAL(PAR_1053);

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:=1);

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:=0,

Slave:=0,

MasterScaling:=1.0,

SlaveScaling:=1.0,

MasterSyncPosition:=LREAL#0.0,

CamTableID:=CAMTABLEID,

BufferMode:=1);

CAMIN1_DONE := MC_CAMIN_INST_0.InSync;