Configure Digital Input To Cam

Use a digital input to start a Cam Motion. After configuration, the cam motion will be triggered by Send Digital Input to PMC.

Fieldbus Interface

PMC_ConfigDI2Cam

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
DiID	USINT[0..21]	Digital Input ID, valid range [1,128]
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
MasterAOffset	REAL[0..3]	Array of size 4, offset of each master axis in meters (m)
SlaveAOffset	REAL[0..3]	Array of size 4, offset of each slave axis in meters (m)
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
CamMode	USINT[0..3]	Array of size 4, cam mode of each axis Cam modes: 0 = auto start, 1 = cyclic, 2 = start once
MasterOffsetMode	USINT[0..3]	Array of size 4, master offset mode of each axis Master offset modes: 0 = absolute, 1 = relative
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.

Conditions

Operating Conditions
Preconditions	None
Postconditions	Specified Digital Input is set to start the specified Cam

Description

Use a digital input to start a Cam Motion. This gives the user the ability to trigger a cam motion with a precise start time. Calling the Cam Control command from the Fieldbus can result in a delayed start if the Fieldbus is busy with other commands.