Cam Mode Control Bufferable

Cam Mode Control Bufferable allows the cam motion to be buffered. This means that the XBot does not have to be in Idle state before sending the command.

Fieldbus Interface

PMC_CamModeCtrlBufferable

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: Enter cam at the beginning of table and exit cam at the end of table (BIEO) 1: Enter cam at the end of table and exit cam at the beginning of table (EIBO) 2: Enter cam at the beginning of table and exit cam at the beginning of table (BIBO) 3: Enter cam at the end of table and exit cam at the end of table (EIEO)
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..3]	Array of size 4, enter up to 4 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..3]	Array of size 4, ID of the cam used to drive the slave axis
MasterXID	USINT[0..3]	Array of size 4, ID of the Master XBots
MasterAID	USINT[0..3]	Array of size 4, 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
MasterAScaling	REAL[0..3]	Array of size 4, scalling factor of each master axis, positive value only
SlaveAScaling	REAL[0..3]	Array of size 4, scalling factor of each slave axis, positive value only
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
Ack	BOOL	Command has been accepted by the PMC when Ack = TRUE.
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.

Conditions

Operating Conditions
Preconditions	XBot is in the Idle state, Obstacle Detected state, Motion state, Stopped state, Hold Position state, or Waiting state.
Postconditions	If the XBot is ready to immediately begin executing the command, then the XBot will enter the Motion state. Otherwise, the XBot state remains unchanged, but the command will be added to the XBot's motion buffer.

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

Cam Mode Control Bufferable allows the cam motion to be buffered. This means that the XBot does not have to be in Idle state before sending the command. The cam will execute once, going through the values configured according to the Level chosen.

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. If other motions are buffered after the Cam, the XBot will proceed to execute those.