CFG_CP_V: CamProfile with Variable Master Increments

Function Description

This function block configures a CamProfile with variable master increments.

Additional parameters and may be configured.

Representation in FBD

Representation:

Representation in LD

Representation:

Representation in IL

Representation:

CAL CFG_CP_V_Instance (S:=CFG_CAM_variable, R:=Reset,
    CP_ID:=CP3, PT_CNT:=4, INTERP:=MMF_LINEAR_INTERP,
    MST_UNIT:=MMF_REV, MST_STRT:=MASTER_Position,
    FOL_UNIT:=MMF_REV, FOL_STRT:=SLAVE_Position, MFB:=MFB,
    CFG_BLK:=CP_V_CFG_BLK, ERROR=>CAM_CFG_ERROR)

Representation in ST

Representation

CFG_CP_V_Instance (S:=CFG_CAM_variable, R:=Reset,
    CP_ID:=CP3, PT_CNT:=4, INTERP:=MMF_LINEAR_INTERP,
    MST_UNIT:=MMF_REV, MST_STRT:=MASTER_Position,
    FOL_UNIT:=MMF_REV, FOL_STRT:=SLAVE_Position, MFB:=MFB,
    CFG_BLK:=CP_V_CFG_BLK, ERROR=>CAM_CFG_ERROR) ;

Parameter Description

Description of input parameters:

Parameter	Data Type	Meaning
S	BOOL	Rising input starts configuration of the CamProfile.
R	BOOL	Resets block and prevents configuration. It halts configuration at the end of the current step.
CP_ID	INT	Axis ID for CamProfile to be configured.
PT_CNT	INT	The number of points in the CamProfile.
INTERP	UDINT	Interpolation type: linear or cubic.
MST_UNIT	UDINT	Position units of the master.
MST_STRT	ARRAY [1 .. n] OF REAL	Array of the master position data (n must be ≥ PT_CNT).
FOL_UNIT	UDINT	Position units of the slave.
FOL_STRT	ARRAY [1 .. n] OF REAL	Array of the slave position data (n must be ≥ PT_CNT).

Description of in-output parameters:

Parameter	Data Type	Meaning
MFB	MMFBlock	Must be connected to the MMFStart block of 200 registers.
CFG_BLK	CPCfg	Data block where the CamProfile configuration data will be stored.

Description of output parameters:

Parameter	Data Type	Meaning
Q	BOOL	True when the configuration has completed (reset by R).
ERROR	INT	First error code that is generated during configuration.

Example

When input CFG_CAM_variable turns on, a variable master increment CamProfile, identified as CamProfile 3 (CP3), is created in the motion controller, the velocity units for both the master and follower are set to revolutions on the input pins MST_UNIT and FOL_UNIT. The interpolation type is configured as LINEAR on the INTERP input pin. The master follows the variable point paths that are defined in register block MASTER_Position and specified on input pin MST_STRT. The follower path positions are defined in register block SLAVE_Position and specified on input pin FOL_STRT. Both the master and follower variable positions must be determined and entered into the specified PLC registers.

Master and Follower Positions

The master and follower positions that are entered into the PLC registers are listed in the following table:

Point Number	Master 409500	Follower 409600
1	0.0	0.0
2	0.2	0.5
3	0.6	0.5
4	0.8	0.0

During this profile execution, both the master and follower will start at position 0. When the master reaches +0.2 revolutions, the follower reaches +0.5 revolutions. While the master is moving from +0.2 through +0.6 revolutions, the follower remains at +0.5 revolutions. When the master reaches 0.8 revolutions, the follower moves back to 0 revolutions. While the master is moving from +0.8 revolutions to 0 revolutions, the follower remains at 0 revolutions.

Runtime Errors

If an error occurs during the configuration of this CamProfile, the error number can be examined at CAM_CFG_ERROR. This CamProfile configuration information is located in the register block CP_V_CFG_BLK after successful completion of the configuration.

NOTE: For a list of all error codes and values of the block, refer to Tables of Error Codes for the Motion Library.