General Information
This module creates a data point table with normalized cam data points from given points. A cubic spline is used for this purpose. It is ensured that each data point is reached. This data point table can then be executed with TB_CamStretch.
The data points take the form of x/y positions. Here, x is the master position and y the accompanying axis position. The module then creates a normalized data point table with 512 data points from this. This can then be executed directly with TB_CamStretch. The cubic spline used ensures jerk-free traversal and the reaching of every data point.
Calculation occurs in one cycle and requires approx. 10 ms (SH03-30 and 10 data points). The calculation should occur in a cyclical task. A new cam can be calculated and accepted online.
Note: A new cam should only be transferred to TB_CamStretch at the beginning (with x_Execute), as it uses the connected data points (not a local copy) directly. Otherwise, a jerk or impact can occur during setpoint generation.
| Recommended task: | Cyclic |
| Libraries used: | TECH_TYPES_xxbd05 or higher TECH_TOOLS_xxbd00 or higher |
InOut Parameter
| Marking: | Data type: | Description: |
|---|---|---|
| _Spline | SPLINE_DATA | Table of cam points. The x-values must be specified in ascending order. The y-values can be selected as desired. Both values are specified in the selected user units. Up to 256 points can be specified. The x-points do not need to be equidistant. In the following example, a spline cam is generated, which positions the axis from 0 degrees to 360° and back while the master has moved from 0 to 100 mm. |
| a_CamTable | CAM_TABLE | Data point table of the normalized cams. |
Input Parameter
| Marking: | Data type: | Description: |
|---|---|---|
| x_Execute | BOOL | A positive edge starts the cam calculation and executes it in one cycle. The execution time is approx. 10 ms with an SH03-30 and 10 data points. |
| ui_CamId | UINT | Position of the first normalized cam data point in a_CamTable. 512 data points are generated. The position can be selected between 8192 and 15872. It makes sense to use a multiple of 512. |
| di_k1_Num | DINT | Numerator of cam slope at beginning of cam. |
| di_k1_Denum | DINT | Denominator of cam slope at beginning of cam |
| di_knNum | DINT | Numerator of cam slope at end of cam. |
| di_knDenum | DINT | Denominator of cam slope at end of cam. |
| di_yMax | DINT | Max value of cam (for scaling) |
Output Parameter
| Marking: | Data type: | Description: |
|---|---|---|
| x_Done | BOOL | TRUE: Calculation was successful. Normalized cam data points created. |
| x_Error | BOOL | TRUE: An error was identified during calculation. |
| w_ErrorId | WORD | Error number. See error table. |
| w_ErrorId | Description: |
|---|---|
| 0 | No error active. |
| 100 | Selected CamId reserved. The CamId must be between 8192 and 15872. |
| 101 | Selected CamId too large. The CamId must be between 8192 and 15872. |
| 105 | x-value error. The x-values must be sorted in ascending order. |
| 110 | No technology license. Use PLC with technology license. |
| 999 | No technology license. Use PLC with technology license. |