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Data processing on the PLC

The positions and deviations passed to the function block in PLCopen units are converted to axis units.

3rd-order polynomials are calculated from the positions and deviations. In the areas near the edges, 5th-order polynomials are used to define the slope and curvature (corresponds to MC_BR_CalcCamFromPoints, "Mode" = mcCUBIC_SPLINE).

These polynomials are transferred to the drive as cams with index ≥15 since the first y-position is permitted to be other than 0 here. The first x-position is always 0 for cams; the starting positions of the cams are output on outputs ".AdvancedInfo.CamStartPosition" and ".AdvancedInfo.CamStartPositionNeg".

Data processing on the drive

CURVE SPT function blocks are configured with the transferred cams on the drive and, if used, ".AdvancedParameters.CamStartPosition" and ".AdvancedParameters.CamStartPositionNeg". The following ACOPOS parameters are used as the position input of CURVE SPT function blocks depending on "Parameters.PositionSource":

•mcSET_POSITION: ACP10PAR_PCTRL_S_SET

•mcACTUAL_POSITION: ACP10PAR_PBC_S_COMP

•mcENCODER_POSITION: PCTRL_S_ACT_PARID read from drive

The outputs of the CURVE SPT function block ACP10PAR_CURVE_VALUE_R4 are used as PBC_APOS/NEG_PARID inputs for the PBC function.