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Data type: camsegmentstruct, Data type declaration, Example – Yaskawa MotionWorks IEC Toolboxes User Manual

Page 73: Camsegmentstruct

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Cam Toolbox: DataTypes

MotionWorks IEC61131-3 Toolboxes: 2013-09-13

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Data Type: CamSegmentStruct

For use with the

CamGenerator

function block.

Data Type Declaration

TYPE

CamSegmentStruct: STRUCT

CamParameters:

CamSegmentArray

;

SlaveStart: LREAL;

LastSegment: INT;

ArcRadius: LREAL;

(* Only used with 'Arc' CurveType *)

ArcDirection: INT;

(* 1: ccw, -1: cw *) (* Only used with 'Arc' CurveType *)

END_STRUCT;

END_TYPE

Example

RampInCam.SlaveStart:=LREAL#0.5; (*Slave home position at 12 O'Clock *)

RampInCam.LastSegment:=INT#2;

RampInCam.CamParameters[1].CurveType:=TB_CurveType#TangentBlending;

RampInCam.CamParameters[1].MasterEnd:=LREAL#0.9;

RampInCam.CamParameters[1].SlaveEnd:=LREAL#0.9;

(* Slave moves SlaveEnd - SlaveStart during

RampIn *)

RampInCam.CamParameters[1].Resolution:=REAL#0.01;

RampInCam.CamParameters[2].CurveType:=TB_CurveType#StraightLine;

RampInCam.CamParameters[2].MasterEnd:=LREAL#1.0;