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Cam Mode Control

Cam Mode Control

Owned by Comala Publishing
Last updated: Mar 04, 2025
2 min read

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

Fieldbus Interface

PMC_CamModeCtrl 

Name

Data Type

Description

Name

Data Type

Description

Execute

BOOL

cmdLB

UINT

Level

USINT

0 = Stop Cam Motion, 1 = Start Cam Motion

SlaveXID

USINT

ID of the XBot.

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. 

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. 

PM_Controller

PMControllerType

Name

Data Type

Description

Name

Data Type

Description

Done

BOOL

Busy

BOOL

Aborted

BOOL

Error

BOOL

ErrorID

UINT

Ethernet Interface  

PMCRTN CamControlCommand(ushort cmdLabel, CAMOPTIONS camCmdAction, int slaveXbotID, int axisCount, CamAxisDataClass[] camAxisData)

Name

Type

Description

Name

Type

Description

cmdLabel

ushort

camCmdAction

enum

STOP_CAM: stop the cam operation, START_CAM: start the cam operation

slaveXbotID

int

ID of the XBot.

axisCount

int

# of slave axis specified in this command (all for the same slave XBot)

camAxisData

CamAxisDataClass[]

For each slave xbot axis driven by a cam, provide:

  • MasterXID: XBot id of the master XBot

  • MasterAxisID: axis of the master XBot

  • SlaveAxisID: axis of the slave xbot to drive

  • CamID: ID of the cam trajectory to use

Name

Type

Description

Name

Type

Description

PMCRTN

PMCRTN enum

Conditions

Operating Conditions

Operating Conditions

Preconditions

Postconditions

Description

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.

  • It is not necessary to follow the same axis (you can use the Y axis motion of the master XBot to drive the X axis motion of the slave XBot

  • The way the slave XBot axis follows the master XBot axis is user defined in a text file, please see Cam Configuration instructions

 

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 State. Its motion will not be resumed even if the obstacle XBot is moved away.

 


 

 

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