MC_CamIn

MC_CamIn - General Information

Overview

Type:	Function Block
Available as of:	1.0.5.0
Versions:	current version

Task

The function block starts an electronic cam disk.

Description

The function block starts an electronic cam disk that was generated via MC_CamTableSelect. Different start options exist that are selected via StartMode.

Interface

Input	Data type	Description
Master	SystemConfigurationItf.IF_Drive	Master axis
Slave	SystemConfigurationItf.IF_Drive	Slave axis
Execute	BOOL	Start in the case of a rising edge
CamTableId	MC_Cam_Id	Identifier of the cam table to be used, connected to the output of MC_CamTableSelect.
StartMode	MC_Start_Mode	Enumeration type for the start options 0: Set the slave and master position to the cam start point and start it from there. 1: No change in position; start cam with position of master and slave. 2: Connect automatically to previous cam The gradient and curve at the transition point must be equal. 3: Move slave axis to cam position To this end, the master must be at standstill.
i_lrStartWindow	LREAL	Window for StartMode 3
i_lrStartVelocity	LREAL	Velocity for StartMode 3
i_lrStartAcceleration	LREAL	Acceleration for StartMode 3
i_lrStartDeceleration	LREAL	Deceleration for StartMode 3

Output	Data type	Description
InSync	BOOL	True if the cam disk is active
Busy	BOOL	True if the function block is active
CommandAborted	BOOL	True if interrupted by another function block (e.g. MC_CamOut)
Error	BOOL	Signalizes a detected error within the function block
ErrorId	DWORD	Error identification
EndOfProfile	BOOL	Pulse output that signalizes the end of the CAM profile This is displayed each time the end of the CAM profile has been reached.
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> status message q_etDiag <> GD.ET_Diag.Ok -> diagnostic message
q_sMsg	STRING[80]	Event-triggered message which gives more detailed information on the diagnostic state.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Busy	1	The order is executed.
OK	CommandAborted	9	The action was canceled.
OK	InSync	4	A synchronous motion is executed.
OK	Ok	0	Ok
DriveConditionInvalid	DriveNotReady	70	The drive is not ready for motion commands.
ExecutionAborted	PLCopenTransition	49	PLCopen transition is not permitted.
ExecutionAborted	SercosNotInPhaseFour	43	The bus is not in phase 4.
InputParameterInvalid	CamTableIdInvalid	73	The CamTableId is invalid.
InputParameterInvalid	DriveInvalid	26	The connected drive is invalid.
InputParameterInvalid	DriveNotInitialised	27	The connected drive is not initialized.
InputParameterInvalid	EncNumber	50	The number of encoders is invalid.
InputParameterInvalid	EncoderInvalid	51	The Encoder is invalid.
InputParameterInvalid	MasterInvalid	45	Master is invalid.
InputParameterInvalid	ProfileBlocked	12	The profile is in use.
InputParameterInvalid	ProfileIdInvalid	11	ProfileId is invalid.
InputParameterInvalid	SlaveInvalid	46	Slave is invalid.
InputParameterInvalid	StartModeRange	48	StartMode is outside the valid range.
InputParameterInvalid	XFactorTooSmall	14	XFactor is too small.
InputParameterInvalid	XFactorTooSmall	14	XFactor is too small.
UnexpectedProgramBehavior	InputInvalid	35	Input is invalid.
UnexpectedProgramBehavior	UnexpectedFeedback	10	An unintended detected error occurred during execution.
WarmStartConditionInvalid	OutOfWsWindow	47	The position is outside the restore window.

Busy

Enumeration name:	Busy
Enumeration value:	1
Description:	The order is executed.

The electronic cam plate is started.

CamTableIdInvalid

Enumeration name:	CamTableIdInvalid
Enumeration value:	73
Description:	The CamTableId is invalid.

Issue	Cause	Solution
-	An invalid value has been transferred at the input CamTableId.diSegProfilId.	Use the POU MC_CamTableSelect for generating the MC_Cam_Id.

CommandAborted

Enumeration name:	CommandAborted
Enumeration value:	9
Description:	The action was canceled.

The job was cancelled.

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	26
Description:	The connected drive is invalid.

Issue	Cause	Solution
-	The drive transferred at the input Slave does not support all required functionalities.	The drive must support the SystemConfigurationItf.IF_RefActualValuesPosition interface. The drive must support the interface SystemConfigurationItf.IF_Limits. The drive must support the interface SystemConfigurationItf.IF_JobBuffer. The drive must support the SystemConfigurationItf.IF_ControllerStop interface.
-	The drive transferred at the input Master does not support all required functionalities.	The drive must support the SystemConfigurationItf.IF_RefActualValuesPosition interface.

Issue

Cause

Solution

The drive transferred at the input Slave does not support all required functionalities.

The drive must support the SystemConfigurationItf.IF_RefActualValuesPosition interface.

The drive must support the interface SystemConfigurationItf.IF_Limits.

The drive must support the interface SystemConfigurationItf.IF_JobBuffer.

The drive must support the SystemConfigurationItf.IF_ControllerStop interface.

The drive transferred at the input Master does not support all required functionalities.

The drive must support the SystemConfigurationItf.IF_RefActualValuesPosition interface.

DriveNotInitialised

Enumeration name:	DriveNotInitialised
Enumeration value:	27
Description:	The connected drive is not initialized.

Issue	Cause	Solution
-	The function FC_DriveInit was not activated for the drive at the input Slave.	Before using the POU, the drive must be initialized using the function FC_DriveInit.
-	The function FC_DriveInit was not activated for the drive at the input Master.	Before using the POU, the drive must be initialized using the function FC_DriveInit.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	70
Description:	The drive is not ready for motion commands.

Issue	Cause	Solution
-	The axis is not in position control.	Verify the state of the axis.

EncNumber

Enumeration name:	EncNumber
Enumeration value:	50
Description:	The number of encoders is invalid.

Issue	Cause	Solution
-	A sum encoder was used as master.	The number of encoders must be greater or equal 1 and less or equal 8.

EncoderInvalid

Enumeration name:	EncoderInvalid
Enumeration value:	51
Description:	The Encoder is invalid.

Issue	Cause	Solution
-	The logical encoder of the axis at the input Master is invalid.	It must be made sure that the axis at the input Master was initialized with the POU FC_DriveInit. When calling up the POU FC_DriveInit for the axis at the input Master a logical encoder must have been indicated.

Issue

Cause

Solution

The logical encoder of the axis at the input Master is invalid.

It must be made sure that the axis at the input Master was initialized with the POU FC_DriveInit.

When calling up the POU FC_DriveInit for the axis at the input Master a logical encoder must have been indicated.

InputInvalid

Enumeration name:	InputInvalid
Enumeration value:	35
Description:	Input is invalid.

Issue	Cause	Solution
-	A detected error occurred in the internal execution.	Please inform the support team about this detected error.

InSync

Enumeration name:	InSync
Enumeration value:	4
Description:	A synchronous motion is executed.

The axis is moved via an electronic cam disk.

MasterInvalid

Enumeration name:	MasterInvalid
Enumeration value:	45
Description:	Master is invalid.

Issue	Cause	Solution
-	No drive has been applied at the input Master.	A valid drive must be transferred to the input Master.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The POU is waiting for jobs.

OutOfWsWindow

Enumeration name:	OutOfWsWindow
Enumeration value:	47
Description:	The position is outside the restore window.

Issue	Cause	Solution
-	The value 3 was applied at the input StartMode . The axis is located further away than i_lrStartWindow from its start position.	The axis must be moved up to i_lrStartWindow to the start position. i_lrStartWindow must be enlarged. Another StartMode must be selected.

Issue

Cause

Solution

The value 3 was applied at the input StartMode .

The axis is located further away than i_lrStartWindow from its start position.

The axis must be moved up to i_lrStartWindow to the start position.

i_lrStartWindow must be enlarged.

Another StartMode must be selected.

PLCopenTransition

Enumeration name:	PLCopenTransition
Enumeration value:	49
Description:	PLCopen transition is not permitted.

Issue	Cause	Solution
-	During job submission the axis is not in PLCopen state MC_Standstill or MC_SynchronizedMotion.	It must be made sure that the axis is in a valid PLCopen state when the POU is enabled.

ProfileBlocked

Enumeration name:	ProfileBlocked
Enumeration value:	12
Description:	The profile is in use.

Issue	Cause	Solution
-	The motion profile at the input CamTableId is used by another POU.	It must be made sure that the motion profile at the input CamTableId is only being used by this POU.

ProfileIdInvalid

Enumeration name:	ProfileIdInvalid
Enumeration value:	11
Description:	ProfileId is invalid.

Issue	Cause	Solution
-	An invalid value has been transferred at the input CamTableId.diSegProfilId.	For generating the MC_Cam_Id use the POU MC_CamTableSelect.

SercosNotInPhaseFour

Enumeration name:	SercosNotInPhaseFour
Enumeration value:	43
Description:	The bus is not in phase 4.

Issue	Cause	Solution
-	The parameter State of the SERCOS bus is not 4.	Set the SERCOS bus parameter PhaseSet to 4. Verify the SERCOS bus for errors.

Issue

Cause

Solution

The parameter State of the SERCOS bus is not 4.

Set the SERCOS bus parameter PhaseSet to 4.

Verify the SERCOS bus for errors.

SlaveInvalid

Enumeration name:	SlaveInvalid
Enumeration value:	46
Description:	Slave is invalid.

Issue	Cause	Solution
-	No drive has been applied at the Slave input.	A valid drive must be transferred to the input Slave.

StartModeRange

Enumeration name:	StartModeRange
Enumeration value:	48
Description:	StartMode is outside the valid range.

Issue	Cause	Solution
-	An invalid value has been transferred at the input StartMode.	It must be made sure that an element of the enumeration MC_Start_Mode is transferred at the input StartMode.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	10
Description:	An unintended detected error occurred during execution.

Issue	Cause	Solution
-	A detected error occurred in the internal execution.	Please inform the support team about this detected error.

XFactorTooSmall

Enumeration name:	XFactorTooSmall
Enumeration value:	14
Description:	XFactor is too small.

Issue	Cause	Solution
-	The difference between the master positions of two points of the electronic cam disk is too small.	Verify the data in the structure MC_Cam_Ref.