LCamHdl Library for SIMATIC AX

Overview

The LCamHdl library provides functionality for creating cam disks at runtime in SIMATIC AX applications.

Cam disks are used in motion control applications to define the relationship between a leading axis (master) and a following axis (slave). The library provides various methods to create and analyze cam profiles with different mathematical approaches.

The library is a direct conversion of the functionally identical library LCamHdl for use inside the TIA Portal

Key Features

• Create cam profiles based on XY points
• Create basic cam profiles with polynomial segments
• Create advanced cam profiles with various mathematical functions:
  • Sine
  • Inverse sine
  • Double harmonic
  • Polynomial
• Support for both standard TO_Cam profiles and TO_Cam_10k profiles
• Analyze cam profiles for:
  • Min/max following values
  • Maximum slave dynamics
  • Maximum master velocity
  • Status information

Requirements

• SIMATIC AX
• S7-1500T CPU with firmware version 2.9 or higher

Installation

Install with Apax:

apax add @simatic-ax/lcamhdl

Namespace

Simatic.Ax.LCamHdl;

Documentation

Comprehensive documentation is available in the docs directory:

Example

USING Simatic.Ax.LCamHdl;
USING Siemens.Simatic.S71500.MotionControl.Native;

PROGRAM MainProgram
VAR
    camProfile : ARRAY[1..5] OF LCamHdl_typeBasicPoint;
    cam : REF_TO TO_Cam;
    createCamBasic : LCamHdl_CreateCamBasic;
    execute : BOOL;
END_VAR

// Initialize cam profile points
camProfile[1].leadingValue := 0.0;
camProfile[1].followingValue := 0.0;
camProfile[1].velocityRatio := 0.0;
camProfile[1].accelerationRatio := 0.0;

camProfile[2].leadingValue := 0.25;
camProfile[2].followingValue := 0.5;
camProfile[2].velocityRatio := 2.0;
camProfile[2].accelerationRatio := 0.0;

camProfile[3].leadingValue := 0.5;
camProfile[3].followingValue := 1.0;
camProfile[3].velocityRatio := 0.0;
camProfile[3].accelerationRatio := -8.0;

camProfile[4].leadingValue := 0.75;
camProfile[4].followingValue := 0.5;
camProfile[4].velocityRatio := -2.0;
camProfile[4].accelerationRatio := 0.0;

camProfile[5].leadingValue := 1.0;
camProfile[5].followingValue := 0.0;
camProfile[5].velocityRatio := 0.0;
camProfile[5].accelerationRatio := 0.0;

// Create cam profile
createCamBasic(
    execute := execute,
    numberOfPoints := 5,
    camProfile := camProfile,
    cam := cam^
);

// Check results
IF createCamBasic.done THEN
    ;// Cam profile created successfully
ELSIF createCamBasic.error THEN
    ;// Error occurred, check status and diagnostics
END_IF;
END_PROGRAM

Contribution

Thanks for your interest in contributing. Anybody is free to report bugs, unclear documentation, and other problems regarding this repository in the Issues section

License and Legal information

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