LSIS XGT Series - Read the Slave Location of the CAM Table (Ls_Readcamtableslavepos)

Chapter 6 Motion Function Blocks
6-132
6.6.16 Read the slave location of the CAM table (LS_ReadCamTableSlavePos)
Motion Function Block
LS_ReadCamTableSlavePos
AxisAxisUINT UINT
BOOL Execute
UINT CamTableID
Done BOOL
Busy BOOL
Error BOOL
ErrorID WORD
SlaveVel LREAL
LREAL MasterPos SlavePos LREAL
SlaveAccel LREAL
Input - Output
UINT
Axis
Specify the axis to be commanded (1~32: real/virtual axis, 33~36: virtual axis)
Input
BOOL Execute Give ReadCamTableSlavePos operation command to the relevant axis in the
rising Edge.
UINT
CAM tableID
Specify the number of the CAM table to read (1~32)
LREAL
MasterPos
Specify the position of the main axis on the CAM table.
Output
BOOL
Done
Indicate the completion state of ReadCamTabelSlavePos operation.
BOOL
Busy
Indicate that the execution of motion function block is not completed.
LREAL
SlavePos
It outputs the position of the slave.
LREAL
SlaveVel
It outputs the speed of the slave. [u/s]
LREAL
SlaveAccel
It outputs the acceleration of the slave. [u/s
2
]
BOOL
Error
Indicate whether an error occurs or not.
WORD
ErrorID
Output the number of error occurred while motion function block is running.
(1) This motion function block outputs the position of the serve axis according to the position of the main axis in the specified
CAM table.
(2) Set the position value of the main axis to be read in the CAM table as the MasterPos value. Offset / gear ratio / phase
correction operation, etc. applied to the command axis are not reflected in the SlavePos output.
(3) When reading the slave position on the CAM table is completed, the ‘Done Output’ will be turned on.