Yaskawa MotionWorks IEC Toolboxes - Manual (Page 73)

Cam Toolbox: DataTypes
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 60
Data Type: CamSegmentStruct
For use with the CamGenerator function block.
Data Type Declaration
TYPE
CamSegmentStruct: STRUCT
CamParameters: CamSegmentArray ;
SlaveStart: LREAL;
LastSegment: INT;
ArcRadius: LREAL; (* Only used with 'Arc' CurveType *)
ArcDirection: INT; (* 1: ccw, -1: cw *) (* Only used with 'Arc' CurveType *)
END_STRUCT;
END_TYPE
Example
RampInCam.SlaveStart:=LREAL#0.5; (*Slave home position at 12 O'Clock *)
RampInCam.LastSegment:=INT#2;
RampInCam.CamParameters[1].CurveType:=TB_CurveType#TangentBlending;
RampInCam.CamParameters[1].MasterEnd:=LREAL#0.9;
RampInCam.CamParameters[1].SlaveEnd:=LREAL#0.9; (* Slave moves SlaveEnd - SlaveStart during
RampIn *)
RampInCam.CamParameters[1].Resolution:=REAL#0.01;
RampInCam.CamParameters[2].CurveType:=TB_CurveType#StraightLine;
RampInCam.CamParameters[2].MasterEnd:=LREAL#1.0;