FC_InitCamParameter - General Information
|
Type: |
Function |
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Available as of: |
V1.1.0.0 |
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Support for: |
PacDrive 3 pilot template architecture |
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Versions: |
Current version |
Function for initialization of an axis that is controlled by the FB_AxisModule function block.
This function is used to assign values for both camming operating modes (cold start and/or warm start). The axis is specified by iq_stAxisModuleItf. The function also enables the tab handler.
A default MultiCam table can be selected with the i_udiTableSelectNr input and the ET_ParId enumeration provides names for the common types of MultiCam tables as follows:
|
Input |
Data type |
Description |
|---|---|---|
|
i_etCsModeSlave |
PDL.ET_MultiCamCsModeSlave |
Specifies the cold start mode of the axis. |
|
i_diCSModeMaster |
PDL.ET_MultiCamCsModeMaster |
Specifies the cold start mode of the master. |
|
i_etWsMode |
PDL.ET_MultiCamWsMode |
Specifies the warm start mode of the axis. |
|
i_lrWSWindow |
LREAL |
Specifies how close the actual position of the axis has to be to its cam table position to determine which direction the axis travels when synchronizing to the master in units. |
|
i_rWSVel |
LREAL |
Specifies the velocity the axis uses when synchronizing to the master in units/sec. |
|
i_rWSAcc |
LREAL |
Specifies the acceleration the axis uses when synchronizing to the master axis in units/sec^2. |
|
i_lrWsJerk |
LREAL |
Specifies the jerk the axis uses when synchronizing to the master axis in units/sec^3. |
|
i_lrSetEncoderOffset |
LREAL |
Offset of the master in units for linking the master to the logical encoder when in iq_stAxisModuleItf.stMultiCam of FB_AxisModuleTpi the i_xSetEncoderPosition = TRUE. Also refer to i_xSetEncoderPosition of ST_MultiCam (= type of iq_stAxisModuleItf.stMultiCam of FB_AxisModuleTpi) for further description of logical encoder position behavior depending on master type driving it. |
|
i_udiTableSelectNr |
UDINT |
Specifies which cam table to use in the next cycle. |
|
i_diTXend |
DINT |
Time in ms of XlowEnd and XHighEnd before Xend or XStart. |
|
i_xNoModuleSlaveAtStart |
BOOL |
The slave position is not brought into its period during warm start if true. |
|
Input/Output |
Data type |
Description |
|---|---|---|
|
iq_stAxisModuleItf |
ST_ModuleInterface |
The axis interface structure of the associated axis. |
