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Cam Mode Control Bufferable

Cam Mode Control Bufferable

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

Cam Mode Control Bufferable allows the cam motion to be buffered. This means that the XBot does not have to be in Idle state before sending the command.

See also Cam Configuration, Cam Mode Control, Cam Mode Control Advanced

Fieldbus Interface 

PMC_CamModeCtrlBufferable

Name

Data Type

Description

Name

Data Type

Description

Execute

BOOL

cmdLB

UINT

Level

USINT

  • 0: Enter cam at the beginning of table and exit cam at the end of table (BIEO)

  • 1: Enter cam at the end of table and exit cam at the beginning of table (EIBO)

  • 2: Enter cam at the beginning of table and exit cam at the beginning of table (BIBO)

  • 3: Enter cam at the end of table and exit cam at the end of table (EIEO)

SlaveXID

USINT

ID of the XBot.

nAxis

USINT

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

SlaveAID

USINT[0..3]

Array of size 4, enter up to 4 axis of the slave XBot to control.

camID

USINT[0..3]

Array of size 4, ID of the cam used to drive the slave axis

MasterXID

USINT[0..3]

Array of size 4, ID of the Master XBots

MasterAID

USINT[0..3]

Array of size 4, axis ID of the master XBot axis that is used to drive the slave xbot axis. 

MasterAScaling

REAL[0..3]

Array of size 4, scalling factor of each master axis, positive value only

SlaveAScaling

REAL[0..3]

Array of size 4, scalling factor of each slave axis, positive value only

PM_Controller

PMControllerType

Name

Data Type

Description

Name

Data Type

Description

Ack

BOOL

Done

BOOL

Busy

BOOL

Aborted

BOOL

Error

BOOL

ErrorID

UINT

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 

Cam Mode Control Bufferable allows the cam motion to be buffered. This means that the XBot does not have to be in Idle state before sending the command. The cam will execute once, going through the values configured according to the Level chosen.

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. If other motions are buffered after the Cam, the XBot will proceed to execute those.

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