Notes, Error description, Example – Yaskawa MotionWorks IEC Toolboxes User Manual
Page 134
Cam Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13
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the function block. This output is cleared when
'Execute' or 'Enable' goes low.
B
ErrorID
UINT
If Error is true, this output provides the Error ID. This
output is reset when 'Execute' or 'Enable' goes low.
V
SlavePosition
LREAL
The slave position that relates to the master as
described in the CamTable.
Notes
This function provide the exact slave position that corresponds to the MasterPostion input by interpolating the
CamTable. Consider the following CamTable:
M S
0 0
10 0
20 5
30 10
40 20
If the MasterPosition is 15, the corresponding SlavePosition is 2.5.
This function determine the equivalent slave position by looking in the CamTable only, It does not include any
other cam adjustments that may have been applied using any of the Y_CamAdjust function blocks.
See the
on Yaskawa's YouTube Channel.
Error Description
ErrorID
Meaning
No error
Incorrect cam table size (check the CamTable.Header.Datasize)
SlavePosition not found in Y_MS_CAM_STRUCT
Example
In the example shown below, the slave position corresponding to a master position of 10.0 is calculated. It can
be seen that the slave position from the cam profile is 9.9196950.