Cam operation can make 1 or more axis of the slave XBot follow the motion of 1 more axis of 1 or more master XBots through the use of a configured cam.
See also Cam Configuration, Cam Mode Control Advanced, Cam Mode Control Bufferable
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Fieldbus Interface
PMC_CamModeCtrl
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Name | Data Type | Description |
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Execute | BOOL | | Insert excerpt |
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| name | fb_execute |
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| nopanel | true |
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| cmdLB | UINT | | Insert excerpt |
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| name | cmd_label |
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| nopanel | true |
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| Level | USINT | 0 = Stop Cam Motion, 1 = Start Cam Motion | SlaveXID | USINT | ID of the XBot. | Insert excerpt |
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| name | xbot_id_no0allowed |
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| nopanel | true |
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| nAxis | USINT | # of slave axis specified in this command (all for the same slave XBot) | SlaveAID | USINT[0..6] | Array of size 7, enter up to 7 axis of the slave XBot to control. | Insert excerpt |
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| name | axis_ids |
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| nopanel | true |
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| camID | USINT[0..6] | Array of size 7, ID of the cam used to drive the slave axis | MasterXID | USINT[0..6] | Array of size 7, ID of the Master XBots | MasterAID | USINT[0..6] | Array of size 7, axis ID of the master XBot axis that is used to drive the slave xbot axis. | Insert excerpt |
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| name | axis_ids |
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| nopanel | true |
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| PM_Controller | PMControllerType | | Insert excerpt |
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| name | fb_PMController |
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| nopanel | true |
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Name | Data Type | Description |
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Done | BOOL | | Insert excerpt |
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| name | fb_done |
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| nopanel | true |
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| Busy | BOOL | | Insert excerpt |
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| name | fb_busy |
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| nopanel | true |
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| Aborted | BOOL | | Insert excerpt |
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| name | fb_aborted |
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| nopanel | true |
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| Error | BOOL | | Insert excerpt |
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| name | fb_error |
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| nopanel | true |
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| ErrorID | UINT | | Insert excerpt |
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| name | fb_errorID |
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| nopanel | true |
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Ethernet Interface
PMCRTN CamControlCommand(ushort cmdLabel, CAMOPTIONS camCmdAction, int slaveXbotID, int axisCount, CamAxisDataClass[] camAxisData)
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Name | Type | Description |
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PMCRTN | PMCRTN enum | | Insert excerpt |
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| name | eth_pmcrtn |
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| nopanel | true |
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Conditions
Operating Conditions |
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Preconditions | | Insert excerpt |
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| name | condition_nonbufferable_xbot |
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| nopanel | true |
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Postconditions | | Insert excerpt |
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| name | condition_nonbufferable |
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| nopanel | true |
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Description
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Cam operation can make 1 or more axis of the slave XBot follow the motion of 1 more axis of 1 or more master XBots.
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Behaviour During Obstacles If the slave XBot encounters an obstacle (i.e. another XBot is in the way) while following a cam, it will stop following the master and go back to the Idle Stopped State. Its motion will not be resumed even if the obstacle XBot is moved away. |
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