MC_SEW_ConfigCubicInterpolation
With this function block, the user configures a specific segment within a cam profile so that a cubic interpolation of a curve point table takes place there. The cam profile is given by CamTableID (an object of type CamDescription) and the number of the segment within the cam profile is given by uiSegmentNr. In addition, a reference to a curve point table (an object of type ST_PointsList) must be transferred to rstPointsList.
The function block should not be called in the task in which the setpoint generation takes place (usually TaskHighPrio). It is recommended for the function block to be called either in a free-running task or a cyclical task with a priority that is lower than the priority of the TaskHighPrio.
VAR_INPUT
Variable name | Data type | Description |
|---|---|---|
Execute | BOOL | Start execution of the function block |
rstPointsList | REFERENCE TO ST_PointsList | Reference to a structure of type ST_PointsList, which contains the points to be interpolated. |
CamTableID | Object of type CamDescription | |
uiSegmentNo | UINT | Number of the cam segment in which the linear interpolation is to be configured. |
eInterpMode | Define behavior at the margins:
| |
stPStart | ST_Point | With eInterpMode = AddPoints, the speed in the first curve point is determined as if the interpolation before the first curve point would run through the stPStart point. |
stPEnd | ST_Point | With eInterpMode = AddPoints, the speed in the last curve point is determined as if the interpolation after the last curve point would run through the stPEnd point. |
VAR_OUTPUT
Variable name | Data type | Description |
|---|---|---|
Done | BOOL | The configuration was successful. |
Busy | BOOL | The configuration is being carried out. |
Error | BOOL | An error has occurred in the function block |
ErrorID | MC_ErrorId | Error number |
