I/O

Parameter

Data type

Description

IN

Master

UDINT

Master axis reference

IN

Slave

UDINT

Slave axis reference

IN

Enable

BOOL

The function block is active as long as this input is set.

IN

InitData

BOOL

Initializes input data on a rising edge (online change of function block input data)

IN

LeadInMasterDistance

REAL

Compensation distance of master axis for the lead-in movement [PLCopen units of master]

IN

LeadInSlaveDistance

REAL

Compensation distance of slave axis for the lead-in movement [PLCopen units of slave]

IN

LeadInMasterOffset

REAL

Offset on the master side within the cam. The compensating movement for the lead-in movement leads to this position [PLCopen units of master]

IN

LeadOutMasterDistance

REAL

Compensation distance of master axis for the lead-out movement [PLCopen units of master]

Note:

This is not permitted to be negative.

IN

LeadOutSlaveDistance

REAL

Compensation distance of slave axis for the lead-out movement [PLCopen units of slave]

IN

LeadOutMasterOffset

REAL

Offset on the master side within the cam. The compensating movement for the lead-out movement starts at this position [PLCopen units of master]

IN

ReverseSlaveDistance

REAL

No function at this time

IN

MasterInterval

REAL

Interval of the master axis (defines the master length of cam + compensation and the starting interval) [PLCopen units of master]

IN

SlaveInterval

REAL

Interval of the slave axis (defines the slave length of cam + compensation) [PLCopen units of slave]

IN

MasterStartPosition

REAL

Position within the period of the master axis or absolute position on a non-periodic master axis for beginning the cam [PLCopen units of master]

Note:

If "MasterParID" is used, no new value is calculated internally when restarting. This means that if the master position can overflow from the positive to the negative range of values, this value should be recalculated before each start. Otherwise, it is possible that re-coupling will not take place until the positive master start position is reached.

IN

MasterScaling

REAL

Master scaling factor for the cam (only evaluated in CamMode mcDISTANCE_BASED)

IN

SlaveScaling

REAL

Slave scaling factor for the cam

IN

CamTableID

USINT

ID number of the cam, output from MC_CamTableSelect or mcLINEAR_CAM

Note:

When this function block is active, it is not permitted to change the length of the cam specified with "CamTableID" on the master or slave side or to delete the cam data module.

IN

MasterParID

UINT

This ParID is used instead of the position setpoint; 0…Use position setpoint

Note:

When using a value other than 0 (even if the position ParID), the PLCopen factor of the master axis is not applied to any of the parameters involving the master axis.

IN

MasterParIDMaxVelocity

REAL

Prior to V2.290:

Maximum speed of the master ParID value, only evaluated if the MasterParID is used

V2.290 and higher:

If this parameter is "0.0", the current velocity of the master axis is used

If a value is specified for "MasterParID":

Maximum velocity of the master ParID value

If a value is not specified for "MasterParID":

Maximum velocity of the master axis

[PLCopen units of master/s]

Note:

This value is used to calculate the compensating movement for coupling, changing the gear ratio or cams as well as between the cutting areas (depending on the function). This parameter has a considerable effect on the occurrence of ACOPOS error 37113: "Cam compensation gear: Limit values exceeded".

No value specified: A master speed that changes or a parameter update via "InitData" or "Execute" can result in different, automatically calculated motion profiles.

Value specified: Specifying the maximum speed value of the master axis that is achieved while coupled to the slave axis results in a motion profile that is always automatically calculated the same.

IN

LeadInSignal

BOOL

Signal from the controller to start the lead-in movement

IN

LeadOutSignal

BOOL

Signal from the controller to start the lead-out movement

IN

LeadInParID

UINT

ParID that can be used by the drive to start the lead-in movement when the value changes from 0 to a value ≠ 0

IN

LeadOutParID

UINT

ParID that can be used by the drive to start the lead-in movement when the value changes from 0 to a value ≠ 0

IN

TransitionMode

UINT

Mode for compensation phases:

mcTRANSITION_OFF ... 0

mcTRANSITION_ON .... 1

+ mcLEAD_IN ........ 2

+ mcLEAD_OUT ....... 4

IN

CamMode

UINT

Mode for synchronous curve:

mcDISTANCE_BASED ... 0

mcTIME_BASED ....... 1

IN

CamTime

REAL

Time for the synchronous curve [s] (only evaluated in CamMode mcTIME_BASED ....... 1)

OUT

Active

BOOL

Function block active, possible to execute movements

Function block waiting for a lead-in signal

OUT

Busy

BOOL

The function block is active and must continue to be called.

OUT

CommandAborted

BOOL

Function block aborted by another function block

OUT

Error

BOOL

Error during execution

OUT

ErrorID

UINT

错误代码

OUT

DataInitialized

BOOL

Changes to function block inputs initialized

OUT

InSync

BOOL

Coupling established with master (after the start signal, the automat is no longer in the base or waiting state)

OUT

InLeadIn

BOOL

Coupling in the lead-in phase

OUT

InCam

BOOL

Coupling in the cam phase

OUT

InTransition

BOOL

Coupling in the transition phase

OUT

InLeadOut

BOOL

Coupling in the lead-out phase

OUT

InReverse

BOOL

No function at this time

• Description of function

• Lead-in and lead-out movements

• "TransitionMode" input

• "CamMode" input

• Parameter update ("InitData" = TRUE)

• "InCam", "InTransition", "InSync", "InLeadIn" and "InLeadOut" outputs

• Example of using the 1:1 cam, lead-in and lead-out movements in the same slave period

• Required resources

• Additional information

• 错误代码