Y_CA_SlaveIndexLookup

This function block returns the array index value corresponding to the given slave position. This function block is used by Y_CA_CamMasterLookup to determine the equivalent master location for a given slave position.

Parameters

*	Parameter	Data Type	Description	Default
VAR_IN_OUT
B	CamTable	Yt_MS_CamStruct	Cam data structure. Can be downloaded to the motion engine using Y_CamStructSelect.
VAR_INPUT
B	Execute	BOOL	Upon the rising edge, all other function block inputs are read and the function is initiated. To modify an input, change the value and re-trigger the execute input.	FALSE
V	SlavePosition	LREAL	The position of the slave axis for which the corresponding master position is required.	LREAL#0.0
VAR_OUTPUT
B	Done	BOOL	Set high when the commanded action has completed successfully. If another block takes control before the action is completed, the Done output will not be set. This output is reset when Execute goes low.
B	Busy	BOOL	Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error)
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.
V	SlaveIndex	UDINT	The array index of the SlavePosition.

Notes

• The SlavePosition input should be a value between the maximum and minimum values of the slave’s position profile for the index value to be valid.

• If the SlavePosition input is a value between two slave positions in the cam table, the SlaveIndex will return the lower index.

Error Description

Refer to the Function Block ErrorID List .