AOI_Dwell_To_Dwell_ModSin_V1 2AOIAOI_Dwell_To_Dwell_ModSin_EN

Haiqiang XUUser Manual | AOI_Dwell_To_Dwell_ModSinAOI_Dwell_To_Dwell_ModSinDescription: This AOI (Add-On-Instruction) will generate a Modified Sine motion profile from a given master distance and slave distance. Both of the initial slave velocity and the final slave velocity are 0, which is also known as dwell. The output cam segment could be merge with other user-defined cam segments by inputting the slave offset start and the master offset start. OR, the output cam segment could be used individually.The modied sine curve is a combination of quarter sine wave curves. In terms of its torsional action, the change from positive to negative torque occurs in over 75% of the travel time. This attribute makes this curve attractive as a choice in moving large masses. Combination of a low and high frequency sine functionIts lower torque and power demand make the modied sine curve one of the best choices of curves. Minimal motor power required when considering the jerk limited functionPar_CamPoints: User can define the campoints of the cam profile. However, user should take following guides in consideration.o More than 200 would cause the dynamic issue, it could also be seen from the jerk curve. It is come from the 32Bit data resolution of Master and Slave values in data type of CAM. o 30 points would be perfect for most application.o 20 to 100 campoints would be acceptable. If user input the Par_CamPoints outside of this range, the AOI will change it to 30.Dependent UDTs: Cam_P- contains the calculated CAM_PROFILE array, and the data type is CAM_PROFILE102 .Cam - contains the calculated CAM array, and the data type is CAM500. If user want to combine the cam profile with other cam profiles, user may need to change the CAM array size accordingly.Ladder Instruction:Function Block Instruction:Structured Text Instruction:AOI_Dwell_To_Dwell_ModSin(AOI_Dwell_To_Dwell_ModSin,Cam,Cam_P,Par_CamPoints,Par_Master_Distance,Par_Slave_Distance,In_Master_Offset_Start,In_Slave_Offset_Start,In_Cam_index_Start,Out_Master_Offset_End,Out_Slave_Offset_End,Out_Cam_index_End,Out_ErrorCode);Parameters:NameData TypeRequired?UsageAcceptable ValuesDescriptionCamSegment_AOI_Dwell_To_Dwell_ModSinYInOutThis is the AOI control tag. where xxx represents the sub_number of the whole cam profile.EnableInBOOLInputEnableOutBOOLOutputCamCAM500YInOutContains the calculated CAM array, and the data type is CAM500. Cam_PCAM_PROFILE102YInOutContains the calculated CAM_PROFILE array, and the data type is CAM_PROFILE102 .Par_CamPointsDINTYInOut20 to 100campoints of the cam profile. If user input the Par_CamPoints outside of the acceptable range(20 to 100), the AOI will change it to 30.Par_Master_DistanceREALYInput 0Scales the total distance covered by the master axis through the CAM profile. Par_Slave_DistanceREALYInput 0Scales the total distance covered by the slave axis through the CAM profile. Numeric sign means physical incremental direction of motion.In_Master_Offset_StartREALYInputThe initial master position of the cam profile.In_Slave_Offset_StartREALYInputThe initial slave position of the cam profile.In_Cam_index_StartDINTYInputThe initial cam index of the cam profile.Out_Master_Offset_EndREALYOutputThe final master position of the cam profile.Out_Slave_Offset_EndREALYOutputThe final slave position of the cam profile.Out_Cam_index_EndDINTYOutputThe final cam index of the cam profile.Out_ErrorCodeDINTYOutputIndicate the parameter error or the calculating error within this AOI.UDT_CAMTo adjust the size of the profile for combining the cam profile with other cam profiles if necessary. Typical Instruction UseThis instruction can be used individually. It can be used to combine with other cam profiles as well. As is shown below. o Copy the Out_End of the current AOI into the In_start of the next AOI. o Link the CAM Pin of individual AOIs with the same tag, following example is Cam_001. Error CodesThe AOI error message is bitwise indicated through Out_Error.BitDescription0Par_Master_Distance = 01Par_Slave_Distan