MC_SEW_ConfigSplineInterpolation
With this function block, the user configures a specific segment within a cam profile so that a spline 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_PointsListSpline) must be transferred to rstPointsListSpline.
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. |
rstPointsListSpline | REFERENCE TO ST_PointsListSpline | Reference to a structure of type ST_PointsListSpline, 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. |
eSplineMode | Select behavior at the margins:
| |
stVyMargin | ST_Margin | Margins of the 1st derivative |
stAyMargin | ST_Margin | Margins of the 2nd derivative |
xUseVAMargin | BOOL | Use margins of the 1st and 2nd derivative. |
uiTimeMaxUs | UINT | Maximum processing time of the function block in µs per PLC cycle The configuration of a spline interpolation is computationally intensive and can lead to a significant increase in the cycle time. Consequently, the user can use the uiTimeMaxUs parameter to specify the time in µs by which the call of the function block may extend the cycle time of the relevant task. |
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 |
