General Information
With this module, synchronous movements can be generated from scalable cams. The axis then moves in sync to a master position.
Note: Before the module can be executed, the cam data points of the normalized cam must be created. The TB_NormCamCreate module can be used for this purpose.
| Recommended task: | EVENT |
| Libraries used: | ARITHMETIC_xxbd00 or higher TECH_TYPES_xxbd05 or higher TECH_TOOLS_xxbd00 or higher |
Functionality
InOut Parameter
| Marking: | Data type: | Description: |
|---|---|---|
| di_xPos | DINT | Position of the master axis in user units. |
| di_yPos | DINT | Position of the master axis in user units. |
| a_CamTable | CAM_TABLE | Data point table of the normalized cams. |
Input Parameter
| Marking: | Data type: | Description: |
|---|---|---|
| x_Enable | BOOL | TRUE: Enabling of the module. |
| x_Execute | BOOL | Positive edge starts the cam. |
| x_Break | BOOL | TRUE: Cam execution is canceled immediately. |
| di_yPosAdd | DINT | An additional setpoint in 1/100th units of the axis can be connected here. The TB_PosAdd and TB_CamAdd modules are available for this purpose. |
| ui_CamId | UINT | Specifies the cam to be executed. User cams can also be saved in the a_CamTable data point table. The first cam should be saved from position 8192. The position of the first data point is then specified at ui_CamId. A cam must fulfill the following criteria: It must be normalized to 0 to 16,777,216 in the x- and y-directions. The curve at the beginning and end must be zero. 512 data points for the x-positions 0, 32,768, 65,536, …, 16,744,448 are specified, and the accompanying y-value is saved in the _SyncCam table. The x-value is not saved. |
| di_xOffs | DINT | Start position of the master axis for movement in user units. |
| di_yOffs | DINT | Offset of the axis up to start of the cam in user units. The current position of the axis should be specified for di_yOffs so that the axis does not change its position abruptly after the cam start. |
| di_xFact | DINT | Stretch factor of the master axis in user units of the master axis. Specification of the master path while the cam is executed. |
| di_yFact | DINT | Stretch factor of the axis in user units. Specification of the axis path to be traversed with the cam. |
| di_yEnd | DINT | End position of the cam in user units. If the input is not connected, di_yEnd = di_yOffs + di_yFact is set. The input must only then be used if the maximum position is not at the end of the cam. |
| i_kEndNum | INT | Slope numerator of the normalized cam at cam end. |
| ui_kEndDenum | UINT | Slope denominator of the normalized cam at cam end. |
| di_xSetPos | DINT | Set value of the position of the master axis in user units of the master axis. |
| di_ySetPos | DINT | Set value of the position of the axis in user units. |
| us_SetPosMode | USINT | Specifies how the positions are to be changed. |
| ui_CamId | Description: | k_EndNum | k_EndDenum |
|---|---|---|---|
| 0 | Rest-in-rest cam with no velocity plateau | 0 | 1 |
| 1 | Start cam. Rest-in-velocity | 2 | 1 |
| 2 | Straight | 1 | 1 |
| 3 | Stop cam, velocity-in-rest | 0 | 1 |
| 4 | Rest-in-rest cam with 1/3 acceleration, 1/3 const. velocity and 1/3 deceleration | 0 | 1 |
| 5-15 | Reserved | ||
| 8192 | 1st User cam | ||
| 8704 | 2nd User cam | ||
| : | : | ||
| 15872 | 16th User cam |
| us_SetPosMode | Description: | di_xPos after execution | di_yPos after execution |
|---|---|---|---|
| 0 | No setting | unchanged | unchanged |
| 1 | yPos relative | unchanged | di_yPos+di_ySetPos |
| 2 | yPos absolute | unchanged | di_ySetPos |
| 3 | xPos relative | di_xPos+di_xSetPos | unchanged |
| 4 | Both relative | di_xPos+di_xSetPos | di_yPos+di_ySetPos |
| 5 | xPos relative, yPos absolute | di_xPos+di_xSetPos | di_ySetPos |
| 6 | xPos absolute | di_xSetPos | unchanged |
| 7 | xPos absolute, yPos relative | di_xSetPos | di_yPos+di_ySetPos |
| 8 | Both absolute | di_xSetPos | di_ySetPos |
Output Parameter
| Marking: | Data type: | Description: |
|---|---|---|
| x_Active | BOOL | TRUE: Module is enabled (x_Enable = TRUE) and active. |
| x_CamActive | BOOL | TRUE: Cam being processed. |
| x_CamDone | BOOL | TRUE: Cam ended. x_CamDone is TRUE for exactly one cycle |
| di_Vel | DINT | Setpoint velocity of the axis in 1/100th user units/Ts. Ts is the cycle time of the setpoint event task. |
| di_Acc | DINT | Setpoint velocity of the axis in 1/100th user units/Ts2. Ts is the cycle time of the setpoint event task. |
| x_Error | BOOL | TRUE: The module has identified an error. |
| w_ErrorId | WORD | Error number of the module. See table below. |
| w_ErrorId | Description: |
|---|---|
| 0 | No error active. |
| 1 | Unknown SetPosMode. |
| 2 | Cam data error. TM_NormCamCreate must be executed and the cam table connected before use. |
| 3 | di_xFact negative. The x-factor must be positive. |
| 999 | No technology license. Use PLC with technology license. |