MC_BR_CamAutomatGetPar Error

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1

Hello all,

I’m getting an error with the MC_BR_CamAutomatGetPar funtion. When I use MC_GearIn first then I use MC_BR_CamAutomatGetPar , I get an error.

The Logger is shown below:

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Thanks,

Tung

2

Hi @nguyenthanhtung ,
I don’t think MC_BR_CamAutomatGetPar_AcpAx is designed to upload the parameters of an internal automat:

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Have you tried to call that function block with one automat defined in your Axis feature?

Ciao
Valerio

3

Actually, I’m want to use all synchronous functions to show my to clients. After use MC_GearIn Or MC_CamIn then I can’t not use functions related to CamAutomat such as MC_BR_CamAutomatCommand, MC_BR_CamAutomatGetPar_AcpAx, it has an error with ID -1067317233. But when I warm start the controller and use the MC_BR_CamAutomatCommand frist, it still work.

4

Hi @nguyenthanhtung ,

Actually, I’m want to use all synchronous functions to show my to clients.

I guess you could choose a different path to explain how in B&R we implement the synchronization between axes (master - slave), you could start your presentation for example with only mapp Cockpit and zero lines of code:

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Next step you could add couple of function blocks, MpAxisCoupling for Gear in and Cam in and MpAxisCamSequencer for Automat in you task.
In the final step I will present the PLCOpen motion function blocks.

You know step by step from top to bottom…

Just an idea
Ciao
Valerio

5

Hi @valerio.manenti ,

So, it’s impossible to use functions related to CamAutomat after used Synchronous functions such as MC_GearIn, MC_GearOut in the programming, right ?

6

No

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You should execute the sequence below with no error:
Step 1) Power on Master and Slave Axis (Master,Slave: Disabled → Stanstill )
Step 2) Home direct (ref pulse off) both Master and Slave Axis (Master,Slave: Standstill → Homing → Standstill)
Step 3) Call MC_GearIn on the Slave(Master: Standstill; Slave: Standstill → Synchronized Motion)
Step 4) Call MC_MoveVelocity on the Master(Master: Standstill → Continuous Motion; Slave: Synchronized Motion)
Step 5) Call MC_GearOut on the Slaver(Master: Continuous Motion; Slave: Synchronized → Continuous Motion)
Step 6) Call MC_Stop on Master and Slave Axis (Master,Slave: Continuous Motion → Stopping → Standstill)
Step 7) Call MC_BR_CamAutomatCommand on Slave Axis (Master: Standstill, Slave: Standstill → Synchronized Motion)

Ciao
Valerio

7

I’m so sorry @nguyenthanhtung!
I did a test in simulation and I have reproduced your issue:

On the first sequence below I call MC_GearIn and then MC_BR_CamAutomatCommand

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On the second below, I don’t call MC_GearIn and no issue when I call MC_BR_CamAutomatCommand

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I’ll ask a clarification to my colleagues in Support and I’ll update you when I have news.

Ciao
Valerio

8

Hi everyone,

this behavior is intended.

After any coupling function block e.g. MC_GearIn or MC_CamIn (other than MC_BR_CamAutomatCommand) was activated, calling MC_BR_CamAutomatGetPar or
MC_BR_CamAutomatCommand will result in the error mentioned in the OP.

The purpose is, that the application should not be allowed to control the cam automat with MC_BR_CamAutomatCommand when it was parametrized by
MC_GearIn, MC_CamIn, etc. and interfere with that function blocks internal operation.

MC_BR_CamAutomatCommand can be used when the cam automat was parametrized via a cam automat feature at start-up, or by MC_BR_CamAutomatSetPar.

The following sequence will not result in an error:

  • MC_GearIn (MC_CamIn, etc.)
  • MC_BR_CamAutomatSetPar
  • MC_BR_CamAutomatCommand (or MC_BR_CamAutomatGetPar)

Edit:

Calling MC_BR_CamAutomatGetPar after a coupling FB (e.g. MC_GearIn, MC_CamIn, etc.) is also prohibited on purpose to prevent the following use case:

  • Activate coupling FB (e.g. MC_GearIn, MC_CamIn)
  • Call MC_BR_CamAutomatGetPar (to read the cam automat parameters set by the coupling FB)
  • Change the cam automat parameters with the application programm
  • Call MC_BR_CamAutomatSetPar (to write the changed cam automat parameters)
  • Use MC_BR_CamAutomatCommand (to start and control the cam automat)

Preventing this allows for extentions and optimizations in the cam automates the coupling FBs parametrize, without influencing existing applications.

9

Thanks so much @Martin.Schrott for the clarification!
@nguyenthanhtung I modified a little bit my sequence, I followed the guidelines from Martin and as you see below no more issue:

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I’m going to mark the comment from Martin as solution.
Ciao
Valerio