Cam Mode Control

Cam operation can make 1 or more axis of the slave XBot follow the motion of 1 more axis of 1 or more master XBots through the use of a configured cam.

Fieldbus Interface

PMC_CamModeCtrl

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
cmdLB	UINT	Any 2 byte Command Label, user defined.
Level	USINT	0 = Stop Cam Motion, 1 = Start Cam Motion
SlaveXID	USINT	ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]
nAxis	USINT	# of slave axis specified in this command (all for the same slave XBot)
SlaveAID	USINT[0..6]	Array of size 7, enter up to 7 axis of the slave XBot to control. Axid IDs: 0 = no axis, 1 = X, 2 = Y, 3 = Z, 4 = RX, 5 = RY, 6 = RZ
camID	USINT[0..6]	Array of size 7, ID of the cam used to drive the slave axis
MasterXID	USINT[0..6]	Array of size 7, ID of the Master XBots
MasterAID	USINT[0..6]	Array of size 7, axis ID of the master XBot axis that is used to drive the slave xbot axis. Axid IDs: 0 = no axis, 1 = X, 2 = Y, 3 = Z, 4 = RX, 5 = RY, 6 = RZ
PM_Controller	PMControllerType	Data structure that specifies which PMC to connect to. There should be only 1 instance of this variable for each connected PMC.

Outputs

Name	Data Type	Description
Done	BOOL	Execution successful. Function block is finished. (Note: Done will not become TRUE if Execute is already FALSE)
Busy	BOOL	Function block is active and must continue to be called.
Aborted	BOOL	Command aborted by another command.
Error	BOOL	If there is an error in processing the command, then Error = TRUE, otherwise, FALSE.
ErrorID	UINT	0x0: All OK. Otherwise, please see PMC Reply Codes.

Ethernet Interface

PMCRTN CamControlCommand(ushort cmdLabel, CAMOPTIONS camCmdAction, int slaveXbotID, int axisCount, CamAxisDataClass[] camAxisData)

Parameters

Name	Type	Description
cmdLabel	ushort	Any 2 byte Command Label, user defined.
camCmdAction	enum	STOP_CAM: stop the cam operation, START_CAM: start the cam operation
slaveXbotID	int	ID of the XBot. Real XBot IDs [1,78]. Virtual XBot IDs [100,127]
axisCount	int	# of slave axis specified in this command (all for the same slave XBot)
camAxisData	CamAxisDataClass[]	For each slave xbot axis driven by a cam, provide: MasterXID: XBot id of the master XBot MasterAxisID: axis of the master XBot SlaveAxisID: axis of the slave xbot to drive CamID: ID of the cam trajectory to use

Returns

Name	Type	Description
PMCRTN	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.

Conditions

Operating Conditions
Preconditions	XBot(s) State is Idle or Stopped.
Postconditions	The specified XBot(s) will enter the Motion State.

Description

Cam operation can make 1 or more axis of the slave XBot follow the motion of 1 more axis of 1 or more master XBots.

It is not necessary to follow the same axis (you can use the Y axis motion of the master XBot to drive the X axis motion of the slave XBot
The way the slave XBot axis follows the master XBot axis is user defined in a text file, please see Cam Configuration instructions

Behaviour During Obstacles

If the slave XBot encounters an obstacle (i.e. another XBot is in the way) while following a cam, it will stop following the master and go to the Stopped State. Its motion will not be resumed even if the obstacle XBot is moved away.