Camslave_recover, Parameters – Yaskawa MotionWorks IEC Toolboxes User Manual
Page 140
Cam Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13
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CamSlave_Recover
The CamSlave_Recover block moves a Slave back into sync with the master axis after camming was interrupted
unexpectedly, such as E-Stop conditions, or alarms that disable the servo. This function block is particularly
useful when resuming the cam motion from the position where it was interrupted is necessary to avoid wasting
products in process, or if machine characteristics demand it, or if homing and re-starting the cycle is not
feasible. The CamSlave_Recover function block can be used to bring the slave axis to the position in the cam
table that corresponds to the current master axis position. Linear interpolation is performed for accuracy in case
of coarse resolution between points in the cam table. Once CamSlave_Recover is Done, the camming motion
can resume. This function block contains a MC_MoveAbsolute function.
Parameters
*
Parameter
Data Type
Description
VAR_IN_OUT
B
SlaveAxis
A logical reference to the slave axis
B
CamTable
Cam data structure
VAR_INPUT
Default
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
B
MasterPosition
LREAL
Master axis’ current position. The
CamSlave_Recover function block
will command the slave axis to
move to the slave position
LREAL#0.0