MC_CamIn

This function block performs a slave axis movement based on the cam description of the CamDescription type specified at the CamTableID input, which follows the master axis.

VAR_IN_OUT

Variable name	Data type	Description
Slave	AXIS_REF	Reference to a logical device (name of the logical device) See also AXIS_REF.
Master	AXIS_REF	Reference to a logical device (name of the logical device) See also AXIS_REF.

Variable name

Data type

Description

Slave

AXIS_REF

Reference to a logical device
(name of the logical device)

VAR_INPUT

Variable name	Data type	Description
Execute	BOOL	Start execution of the function block.
CamTableID	MC_CAM_ID	Identifier of the cam description to be used (identifier of the cam description generated with the MC_CamTableSelect function block or object of type CamDescription)
StartMode	MC_START_MODE	Select the initial position of the cam profile in relation to the positions of the master and slave axes: mcAbsolute mcRelative mcMasterRelativeSlaveRelative mcMasterRelativeSlaveAbsolute mcMasterAbsoluteSlaveRelative mcMasterAbsoluteSlaveAbsolute
RampInMode	E_RampInMode	Select the behavior when synchronizing: eDirect: Do not calculate a transition profile. The transition to the cam profile is direct. This can lead to jumps in the setpoint curve. eProfileBased: Calculate the transition profile based on the dynamic values RampInVelocity, RampInAcceleration, RampInDeceleration and RampInJerk so that a continuous setpoint curve is achieved.
MasterOffset	LREAL	Shift of the cam profile in the X direction in relation to the initial position specified by MC_CamIn.StartMode
SlaveOffset	LREAL	Shift of the cam profile in the Y direction in relation to the initial position specified by MC_CamIn.StartMode
MasterScalingNumerator	DINT	Numerator of the master scaling
MasterScalingDenominator	DINT	Denominator of the master scaling
SlaveScalingNumerator	DINT	Numerator of the slave scaling
SlaveScalingDenominator	DINT	Denominator of the slave scaling
RampInVelocity	LREAL	Speed for profile-based synchronization with E_RampInMode "eProfileBased"
RampInAcceleration	LREAL	Acceleration for profile-based synchronization with E_RampInMode eProfileBased
RampInDeceleration	LREAL	Deceleration for profile-based synchronization with E_RampInMode eProfileBased
RampInJerk	LREAL	Jerk for profile-based synchronization with E_RampInMode eProfileBased
Direction	MC_DIRECTION	Modulo reference if the master or slave is a modulo axis.
BufferMode	MC_BUFFER_MODE	Select the chronological sequence of the function block.

VAR_OUTPUT

Variable name	Data type	Description
InSync	BOOL	Slave axis is synchronous to the master axis
Busy	BOOL	Function block is active
Active	BOOL	Function block controls the axis
CommandAborted	BOOL	Function block was canceled by another command
Error	BOOL	An error has occurred in the function block
ErrorID	WORD	Error number
EndOfProfile	BOOL	PLC cycle in which the right (when the master axis moves in the positive direction) or left (when the master axis moves in the negative direction) curve limit is crossed.