Y_CA_CamMasterLookup
This function block provides the master position given a slave position by searching the referenced CamTable. If there may be two or more master positions for the slave, as in the case of out and back slave motion, a range of slave positions can be specified to limit the search for the corresponding master position. This function block is useful for E-Stop recovery routines.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | CamTable | Yt_MS_CamStruct | Cam data structure | |
| VAR_INPUT | ||||
| B | Enable | BOOL | The function will continue to execute every scan while Enable is held high and there are no errors. | FALSE |
| V | SlaveMin | LREAL | The smallest slave position to include when searching for the master. | LREAL#0.0 |
| V | SlavePosition | LREAL | The current slave position. | LREAL#0.0 |
| B | SlaveMax | LREAL | The largest slave position to include when searching for the master. | LREAL#0.0 |
| VAR_OUTPUT | ||||
| B | Valid | BOOL | Indicates that the function is operating normally and the outputs of the function are valid . | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. | |
| E | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. | |
| B | MasterPosition | LREAL | The master position which corresponds to the SlavePosition. | |
Notes
This function provide the exact master position that corresponds to the SlavePostion input by interpolating the CamTable. Consider the following CamTable:
If the SlavePosition is 15, the corresponding MasterPosition is 35.
Error Description
Refer to the Function Block ErrorID List .