Scalable curves

This module generates cyclical setpoint positions in user units and can execute additional positioning in conjunction with technology modules such as TB_CamStretch.

Cams can be added with this module. The added cam may not extend past the end of the basic cam. Several additional cams can be grouped together. The last added cam must end with a rest.

To avoid jerks and impacts, it must be ensured that the positions and slopes at the end and beginning are the same via the scales and offsets of the cams.

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.

This module generates cyclical setpoint positions in user units and can execute additional positioning in conjunction with technology modules such as TB_CamStretch.

Cams can be added with this module. The added cam may not extend past the end of the basic cam. Several additional cams can be grouped together. The last added cam must end with a rest.

To avoid jerks and impacts, it must be ensured that the positions and slopes at the end and beginning are the same via the scales and offsets of the cams.

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.

This module determines the axis position of a cam at a specified master position.

The axis position of a cam at a specified master position is determined. The axis can thus traverse to this position, and then the cam can be started directly with the TB_CamStretch module. The master encoder must be at a standstill here!

The cam can thus be continued directly after a disturbance. Example: The machine has been stopped via an emergency stop, the axes (including the master) were without torque and changed their position. After acknowledgement of the emergency stop, all axes are brought under control. The valid cam position is then determined (TB_CamGetPos) for each axis and then assumed (TB_PosAbs). The cams are now restarted (TB_CamStretch).

A positive edge at x_Execute executes the calculation. Ensure here, that the offsets (di_xOffs and di_yOffs) and the stretch factors (di_xFact, di_yFact) correspond with the respective movement. The cam used (ui_CamId, i_kEndZ and ui_kEndN) must also be specified correctly.

Before the module can be used, the cam table is to be initialized by the TB_NormCamCreate module.

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.

This module determines the axis position of a cam at a specified master position.

The axis position of a cam at a specified master position is determined. The axis can thus traverse to this position, and then the cam can be started directly with the TB_CamStretch module. The master encoder must be at a standstill here!

The cam can thus be continued directly after a disturbance. Example: The machine has been stopped via an emergency stop, the axes (including the master) were without torque and changed their position. After acknowledgement of the emergency stop, all axes are brought under control. The valid cam position is then determined (TB_CamGetPos) for each axis and then assumed (TB_PosAbs). The cams are now restarted (TB_CamStretch).

A positive edge at x_Execute executes the calculation. Ensure here, that the offsets (di_xOffs and di_yOffs) and the stretch factors (di_xFact, di_yFact) correspond with the respective movement. The cam used (ui_CamId, i_kEndZ and ui_kEndN) must also be specified correctly.

Before the module can be used, the cam table is to be initialized by the TB_NormCamCreate module.

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.

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.

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.

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This module carries out relative positioning with the specified max. acceleration/deceleration and velocity. The movement parameters are specified in user units. A positive edge at the x_Start input executes relative positioning of the axis. The movement occurs smoothly with 5th degree polynomials. The max. acceleration is achieved, but never exceeded; the max. velocity can be reached, but is also never exceeded. If the travel range is short, the max. velocity is not reached. The cam table is loaded after the initial run-through of the module after program start. This process lasts approx. 1 ms (BM4_O_PLC01).

Attention: The TM_PosRel function module can only be used in a synchronized setpoint event task

This module carries out relative positioning with the specified max. acceleration/deceleration and velocity. The movement parameters are specified in user units. A positive edge at the x_Start input executes relative positioning of the axis. The movement occurs smoothly with 5th degree polynomials. The max. acceleration is achieved, but never exceeded; the max. velocity can be reached, but is also never exceeded. If the travel range is short, the max. velocity is not reached. The cam table is loaded after the initial run-through of the module after program start. This process lasts approx. 1 ms (BM4_O_PLC01).

Attention: The TM_PosRel function module can only be used in a synchronized setpoint event task

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.

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.