DC10VelCam
D = Device(CAMMING2, CAMMING3)
C = Calculation functions
The purpose of the DC10VelCam function is to calculate Master and Slave spaces in order to build the sectors of acceleration, deceleration and a constant speed for a device type electronic cam.
These fields are calculated so that the gradients of acceleration and deceleration ramps are respected by the acceleration and deceleration time set parameters.
The speed profile of the cam that you get with this function is as follows:
IMPLEMENTATION
DC10VelCam (aslParam, codeG, codeM, codeQm, codeQs, codeQma, codeQsa, Error)
Parameters:
| IN/OUT | VARIABLE TYPE | EXAMPLE NAME | DIM | |
|---|---|---|---|---|
| IN | ARRSYS | aslParam [1] | L | Master space to cover (UM) |
| IN | ARRSYS | aslParam [2] | L | Slave space to cover (UM) |
| IN | ARRSYS | aslParam [3] | L | Reference Master speed (UM/sec) |
| IN | ARRSYS | aslParam [4] | L | Maximum Slave speed (UM/sec) |
| IN | ARRSYS | aslParam [5] | L | Acceleration Slave time to go from zero to max speed (s/100) |
| IN | ARRSYS | aslParam [6] | L | Deceleration Slave time to go from max spedd to zero (s/100) |
| IN | ARRSYS | aslParam [7] | L | Starting speed of the Slave (UM/sec) (opt.) |
| IN | ARRSYS | aslParam [8] | L | “Measure” parameter of used device |
| IN | ARRSYS | aslParam [9] | L | “Pulse” parameter of used device |
| OUT | ARRSYS | CodeG | L | Array containing calculated G Code (OUT) |
| OUT | ARRSYS | CodeM | L | Array containing calculated M code (OUT) |
| OUT | ARRSYS | CodeQm | L | Array containing calculated CodeQm (OUT) |
| OUT | ARRSYS | CodeQs | L | Array containing calculated CodeQs (OUT) |
| OUT | ARRSYS | CodeQma | L | Array containing CodeQma (auxiliary code) (OUT) |
| OUT | ARRSYS | CodeQsa | L | Array containing CodeQsa (auxiliary code) (OUT) |
| OUT | SYSTEM | Error | B | Error var in the cam writing (OUT) |
Error
After calling the function the error variable assumes certain values, the meaning of these values is summarized below:
0: calculation executes without errors
1: Maximum Slave speed less than or equal to 0
2: Master speed less than or equal to 0
3: Acceleration time less than or equal to 0
4: Deceleration time less than or equal to 0
5: Cam not available (space too small)
6: Cam not available (sum of calculated exceeds the maximum time ramps)
7: Maximum speed greater than the speed calculated Slave Slave
Example
MAIN:
IF gfCalcVel
gfCalcVel = 0
aslParam[1] = 10000 ;Master space
aslParam[2] = 3000 ;Slave space
aslParam[3] = 1500 ;Master speed
aslParam[4] = 4000 ;Maximum Slave speed
aslParam[5] = 50 ;Acceleration time
aslParam[6] = 50 ;Deceleration time
aslParam[7] = 0 ;Starting Slave speed
aslParam[8] = 1000 ;"Measure" parameter of device
aslParam[9] = 4000 ;"Pulse" parameter of device
DC10VelCam (aslParam, codeG, codeM, codeQm, codeQs, codeQma, codeQsa, Error)
IF NOT Error
SettIniz = 1
NumSet = 3
DW20WrCam(cmCamma,CodeG,CodeM,CodeQm,CodeQs,CodeQma,CodeQsa,SettIniz,SettFine,NumSet,Error)
ENDIF
ENDIF
Operation notes
-
The constant speed of the Slave is the speed that the Slave has the time to take the space set. This speed can be set to zero or less than zero.
-
Space Slave to set can also be negative, in this case, the calculation will be executed in order to turn back the Slave to the space set
-
The number of sectors used is always 3
-
In case the space to make the Slave is less than what the Slave would do at a constant speed, the resulting velocity profile is represented in the chart below (the same is true for negative speed).
N.B.: In the graph represented the speed could become negative (and then push back the Slave) if the case of the Slave space set is lesser of the space covered for the acceleration and deceleration ramps.