Application for Drive Technology

Transcription

1 Application for Drive Technology Technology CPU Documentation Technology template MoveCircle 2D

2 Warranty, Liability and Support Note The Application Examples are not binding and do not claim to be complete regarding the circuits shown, equipping and any eventuality. The Application Examples do not represent customer-specific solutions. They are only intended to provide support for typical applications. You are responsible for ensuring that the described products are correctly used. These application examples do not relieve you of the responsibility to use sound practices in application, installation, operation and maintenance. By using these application examples you accept that Siemens is not liable for any damages except for those specified in the above liability clause. We reserve the right to make changes to these Application Examples at any time without prior notice. If there are any deviations between the recommendations provided in these application examples and other Siemens publications e.g. Catalogs the contents of the other documents have priority. Warranty, Liability and Support We accept no liability for information contained in this document. Any claims against us based on whatever legal reason resulting from the use of the examples, information, programs, engineering and performance data etc., described in this Application Example shall be excluded. Such an exclusion shall not apply in the case of mandatory liability, e.g. under the German Product Liability Act ( Produkthaftungsgesetz ), in case of intent, gross negligence, or injury of life, body or health, guarantee for the quality of a product, fraudulent concealment of a deficiency or breach of a condition which goes to the root of the contract ( wesentliche Vertragspflichten ). However, claims arising from a breach of a condition which goes to the root of the contract shall be limited to the foreseeable damage which is intrinsic to the contract, unless caused by intent or gross negligence or based on mandatory liability for injury of life, body or health. The above provisions do not imply a change in the burden of proof to your detriment. Copyright 2007 Siemens A&D. It is not permissible to transfer or copy these Application Examples or excerpts of them without first having prior authorization from Siemens A&D in writing. If you have any questions about this document please us to the following address: mailto:csweb@ad.siemens.de V3.0 Issued Oct. 15th /26

3 Foreword Foreword Objective of the technology template A technology template is a software object or a code block with a defined interface, which can be easily integrated into other software projects without extra efforts and which performs a precisely defined technological task in these projects. The technology template on hand helps you perform a two-dimensional motion on a circular or elliptical path, where the motion can be performed on a defined segment of the circle or the ellipse and the circle/ellipse can also be rotated in plane via a configurable angle. Support for the technology template Support services in the scope of the Customer Support can only be provided for the unaltered technology template. If the code is changed it is no longer possible to provide support for the technology template. Reference to Automation and Drives Service & Support This entry originates from the internet application portal of the A&D Service and Support. The following link takes you directly to the download page of this document. V3.0 Issued Oct. 15th /26

4 Table of Contents Table of Contents 1 Basic Information Requirements Target group Technical environment Objective and purpose of this technology template Task Components contained in the technology template Properties of this technology template Restrictions Application environment Structure and Function Structure of the technology template Possible statuses Execution examples for circular and elliptical trajectories Starting point of the circle or ellipse Orientation of circle and ellipse Rotation of the coordinate system Program Environment and Interfaces Call environment Interfaces Integrating the Technology Template into Projects Axis technologies and synchronization relationships Creation of the required technology objects Virtual master axis Axis_Master Real Cartesian axes Axis_X and Axis_Y Cam discs Cam_Sinus and Cam_Cosinus Configuring the conditions for the basic synchronism Configuring the conditions for the synchronism Error messages Error codes at the ErrorSource output History V3.0 Issued Oct. 15th /26

5 Basic Information 1 Basic Information 1.1 Requirements Target group The technology template is intended for all programmers and users of the technology CPU 317T-2 DP who want to easily and quickly execute an interpolated in plane motion on a circular or elliptical trajectory. Typical fields of application for interpolating motions are handling, pick and place machines. The aim of this application is mostly to apply a product, for example glue, to a surface in a circular or elliptical motion or processing a product on a circular or elliptical trajectory Technical environment This technology template can be used unaltered only in connection with the Technology CPU 31xT-2 DP or the Microbox 42x-T. 1.2 Objective and purpose of this technology template Task A simple two-dimensional motion following a circular or elliptical trajectory is to be performed where the trajectory parameters can be simply specified via a function block. Figure 1-1 Example of a two-dimensional motion The motion of both axes connected to the technology CPU is to be generated via a cam disc synchronism. The required cam discs for synchronizing the individual axes are to be generated at the function block of the technology template using parameters. V3.0 Issued Oct. 15th /26

6 Basic Information Possible trajectories generated by the technology template on a plane: Table 1-1 Examples of possible trajectories Circle Ellipse Rotated Circle / Ellipse 1.3 Components contained in the technology template The technology template is a software package which contains all STEP 7 blocks required for the realization of a circular or elliptical motion. Figure 1-2 Components contained in the technology template Technology Template Kreisinterpolation 2D S7-Tech Funktionsbaustein Instanzdatenbaustein FB 401 MC_Power FB 402 MC_Reset FB 403 MC_Home FB 405 MC_Halt FB 410 MC_MoveAbsolute FB 421 MC_CamIn FB 434 MC_CamClear FB 435 MC_CamSectorAdd FB 436 MC_CamInterpolate FB 441 MC_CamInSuperImposed FB 503 MoveCircle2D z.b. DB 503 idb_movecircle2d_1 z.b. DB 503 idb_movecircle2d_2 The entire functionality of an interpolated planar motion on a circular or elliptical trajectory is contained in block FB 503 MoveCircle2D of the technology template. The desired circular or elliptical motion can be configured with this block. 1.4 Properties of this technology template The following properties were considered during the realization of the technology template and can be used in a user program when using the template: Easy configuration of circular and elliptical trajectories The desired circular or elliptical trajectory can be simply defined via the parameters of the function block of the technology template. V3.0 Issued Oct. 15th /26

7 Basic Information Start of the current position The circular or elliptical trajectory always starts at the current position of both axes of the plane. This saves additional configuration of the starting position or possible required calculation of the starting point of the circular or elliptical trajectory. Start at a defined starting angle The position of the circle or the ellipse in the plane only depends on the orientation of the X and Y axis of the coordinate system. In order to be able to start at a defined position on the circle or the ellipse, a starting angle can be specified on the circle or the ellipse via the parameters of the function block of the technology template. Motion on definable segments The desired arc length of the circle or the ellipse can also be specified as an angle via parameters at the function block. This enables realizing parts of a circle or an ellipse, as well as whole circles and ellipses, with several revolutions. Configurable rotation in the plane Irrespective of starting angle and segment length, the circle or the ellipse can also be rotated in the plane by a specified angle. Especially for the ellipse, the position in the plane can be influenced once more. 1.5 Restrictions The properties listed below were not considered during the realization of the technology template. No ensuring and monitoring of the path accuracy The technology template does not monitor the compliance with the specified trajectory during the travel motion. Particularly when the dynamic restrictions of the axes are not complied with, deviations from the specified trajectory may occur. No absolute compliance with the trajectory velocity The technology template cannot be given the absolute velocity on the circular or elliptical trajectory. The parameters velocity, acceleration and jerk only refer to the respective master axis of the cam disc synchronization and so they define only the relations of the angle motion on the circular or elliptical trajectory. 1.6 Application environment The technology template was especially developed for use with Cartesian kinematics, i.e. two linear axes X, Y at right angle with each other can be controlled. V3.0 Issued Oct. 15th /26

8 Structure and Function Figure 1-3 Example of a Cartesian kinematics Y axis X axis Y axis X-Y plane 2 Structure and Function 2.1 Structure of the technology template The technology template is based on a unique synchronization of axes and cam discs in the integrated technology and in the technology CPU. Figure 2-1 Structure of the technology template MoveCircle2D Depending on the desired function of the technology template the coefficients A, B, C and D, as well as the cam disc synchronizations for the basic synchronism and the superimposed synchronism are activated. V3.0 Issued Oct. 15th /26

9 Structure and Function 2.2 Possible statuses To execute an interpolated motion on a circular or elliptical trajectory block, FB 503 MoveCircle2D successively executes several functions which are displayed in the graphic below. Figure 2-2 Possible operating statuses of FB 503 MoveCircle2D The individual steps of the block have the following function: Table 2-1 Description of the statuses of FB 503 MoveCircle2D Step / Status Function 0 Error If an error occurs during executing the individual functions of the block or a technology function of the block is aborted, the block branches into this status and outputs an error code for exact localization of the cause of the error. 1 Initialize & Check Parameter During this step the internal variables of the block and the functions called in the block are set to defined values and the input parameters of the block are checked. 2 Halt Axes Prior to executing the following functions the axes are brought to a defined status. 3 Generate Cam Discs During this step the cam discs required for the interpolated motion are generated in the integrated technology of the CPU via mode selection and input parameters. 4 Reset Master Axis The master axis is reset and brought to a defined status for executing the desired motion. V3.0 Issued Oct. 15th /26

10 Structure and Function Step / Status 5 Connect Axes to Cams 6 Connect Axes to Cams SuperImposed Function The X and Y axes are synchronized to the master axis via the basic synchronism using the generated cam discs. The X and Y axes are additionally synchronized to the master axis via the overlapping synchronism using the generated cam discs. This function is only necessary if the circular or elliptical trajectory is to be executed in a rotated coordinate system. 7 Move Master Axis The master axis is started and moves along the configured segment length so the desired circular or elliptical motion is executed. 8 Disconnect Axes from Cams The cam disc synchronization with the X and Y axis is cancelled. 9 End The motion on the circular or elliptical trajectory is cancelled and the block waits for a new traversing task. 2.3 Execution examples for circular and elliptical trajectories Starting point of the circle or ellipse The circle or the ellipse always starts at the current position of the X and Y axis. The circle or ellipse can be aligned at the starting point via the orientation or the starting angle of the circle and the rotation of the coordinate system Orientation of circle and ellipse The angle count within the circle or ellipse always starts in the direction of the positive Y axis or the X-Y plane and is counted clockwise, i.e. from positive Y axis to positive X axis. Figure 2-3 Orientation of circle and ellipse V3.0 Issued Oct. 15th /26

11 Program Environment and Interfaces Rotation of the coordinate system The rotation of the coordinate system is used additive to the orientation of the circle or ellipse, i.e. the circle or ellipse is configured as described. By specifying a rotation angle, the coordinate system of the circle or ellipse is rotated by the given angle with the coordinate system of the X-Y plane. Figure 2-4 Rotation of the coordinate system The angle count for rotating the coordinate system (rotation angle) always starts in the direction of the positive Y axis or the X-Y plane and is counted clockwise, i.e. from positive Y axis to positive X axis. 3 Program Environment and Interfaces 3.1 Call environment Block FB 503 MoveCircle2D of the technology template has to be called cyclically in the user program. It can be called directly in an OB or within a cyclically processed FB. Figure 3-1 Call environment of the technology template Logic Control Integrated Technology User Functionblock PLCopen FBs only allowed, if FB 503 MoveCircle2D is not busy. Technologyobjects Technologyobjects other axes Cyclic OB (e.g. OB1, OB35...) FB 503 MoveCircle2D PLCopen FBs Instance_DB Tech. Template MoveCircle2D Axis X, Y Parameters Instances of PLCopen FBs Runtime-Variables Error-IDs Axis Master V3.0 Issued Oct. 15th /26

12 Program Environment and Interfaces The technology objects controlled by block FB 503 MoveCirlce2D must not be controlled by the user program while FB 503 MoveCirlce2D is active. 3.2 Interfaces For control of the interpolated motion by block FB 503 MoveCircle2D, the following interfaces are available at the block: Axis_X Axis_Y Axis_Master Cam_Sinus Cam_Cosinus Execute IsEllipse Radius_1 StartOffset SegmentLength Radius 2 Rotation Velocity Acceleration Jerk Table 3-1 Block interface FB 503 MoveCircle2D Done Busy CommandAborted Error ErrorID ErrorSource Parameter Data type Initial value Description Input parameter Axis_X INT 0 Planar axis for the motion in X direction in the X-Y plane. Axis_Y INT 0 Planar axis for the motion in Y direction in the X-Y plane. Axis_Master INT 0 Virtual axes as master axis for executing the motion via cam disc synchronization. Cam_Sinus INT 0 Cam disc in which the sinus function is filed by the technology template. Cam_Cosinus INT 0 Cam disc in which the cosinus function is filed by the technology template. Execute BOOL False The execution of the circular or elliptical motion is started with a positive edge at this input. V3.0 Issued Oct. 15th /26

13 Program Environment and Interfaces Parameter Data type Initial value Description IsEllipse BOOL False Selecting the desired trajectory: False = circular motion True = elliptical motion If the elliptical motion is selected, parameter Radius_2 is evaluated on top of parameter Radius_1. Radius_1 REAL 0.0 Circle radius given during a circular motion or the radius of the ellipse in Y direction for elliptical motion. StartOffset REAL 0.0 Starting angle of the circular or elliptical motion in the coordinate system of the circle or ellipse. The positive angle count occurs clockwise. SegmentLength REAL 0.0 Angle length of the circle or elliptical trajectory from the starting angle on. The positive angle count occurs clockwise. Radius_2 REAL 0.0 Radius of the ellipse in X direction for elliptical motion. Rotation REAL 0.0 Angle for the rotation of the coordinate system of the circle or ellipse related to the coordinate system of the X-Y plane. The positive angle count occurs clockwise. Velocity REAL Maximum angle velocity for circular or elliptical motion Acceleration REAL Maximum angle acceleration for circular or elliptical motion Jerk REAL Maximum angle jerk of the circular or elliptical motion Output parameters Done BOOL False Processing the block is completed. The travel motion was performed completely. V3.0 Issued Oct. 15th /26

14 Program Environment and Interfaces Parameter Data type Initial value Description Busy BOOL False The block is being processed. CommandAborted BOOL False The technology functions used in the block and thus the block itself were replaced by a technology function outside the block. Error BOOL False An error has occurred during processing the block. Further information on the localization of the cause of the error is made available via the outputs ErrorID and ErrorSource. ErrorID WORD 0 Error code of the block or of an internally called technology function. The error location in the block can additionally be read via the ErrorSource output. ErrorSource WORD 0 Indication of an additional error code for localization of the cause of the error in the block. Assignment of the parameters Velocity, Acceleration and Jerk The parameters Velocity, Acceleration and Jerk directly affect the technology function FB 410 MC_MoveAbsolute of the master axis of the technology templates. The master axis provides the current angle value of the circular or elliptical motion as input variable for cam disc synchronization, therefore the angle value can only be changed via the parameters Velocity, Acceleration and Jerk during executing the circular or elliptical motion. The actual velocity of the reference point on the circular or elliptical trajectory (trajectory velocity) additionally depends on the given radius for the circle or the radiuses of the ellipses. Note The velocities on the elliptical trajectory resulting from the angle speed can only be approximated mathematically. V3.0 Issued Oct. 15th /26

15 Integrating the Technology Template into Projects 4 Integrating the Technology Template into Projects 4.1 Axis technologies and synchronization relationships To be able to integrate the technology template into your STEP 7 project, the required technology objects, such as axes and cam discs, have to be created in the technology CPU via the S7T-Config configuration software from the S7-Technology software package. This results in the following possible settings for the virtual and real axes displayed in the overview below: Table 4-1 Possible settings of the axes Axis Axis technology Speed Position Synchronous Operation Axis type Modulo Real Drive Virtual Master - Linear - - X - - Linear - Y - - Linear - The synchronization of axes via cam discs requires that the following relationships apply: Table 4-2 Synchronization relationships between axes and cam discs Axis Possible cam discs Possible master values (axes) Cam Sinus Cam Cosinus Master X Y Master X - - Y - - The creation of the required technology objects will be explained in detail in the following chapters. 4.2 Creation of the required technology objects Virtual master axis Axis_Master The virtual axis Axis_Master has to be created as follows: V3.0 Issued Oct. 15th /26

16 Integrating the Technology Template into Projects Configuration Table 4-3 Configuration Axis_Master Parameter Setting Note Axis technology Positioning axis Alternatively, a synchronization axis can be used. Axis type Linear Units All axes should be set to the same system of units. Modulo axis Inactive Drive assignment None virtual axis It is mandatory that Axis_Master is created as virtual axis. Presetting The presetting of Axis_Master determines the dynamic properties of the axis. For acceleration and jerk, the desired values for Axis_Master must be entered taking into account the cam discs and the mechanical conditions at axes X, Y and Z. To ensure that the setting for the jerk takes effect, it is required to set a Smooth acceleration characteristic for the velocity profile at Axis_Master. Limits Setting the velocity, acceleration and jerk limits also requires taking into account the mechanical conditions for axes X and Y as well as the cam discs. The settings for the Axis_Master limits must be selected so that the set limits for axes X and Y are not exceeded in any operating status. Otherwise there may be an axis error hence a deviation from the desired trajectory Real Cartesian axes Axis_X and Axis_Y The real Cartesian axes have to be created as described below: V3.0 Issued Oct. 15th /26

17 Integrating the Technology Template into Projects Configuration Table 4-4 Configuration Cartesian axes Axis_X and Axis_Y Parameter Setting Note Axis technology Synchronization axis Required for the cam disc synchronization as slave axis Axis type Linear Units All axes should be set to the same system of units. Modulo axis Inactive Drive assignment Drive module real axis Alternatively, the Cartesian axes can also be operated as virtual axes (see test program). Presetting If the Cartesian axes are in motion when block FB 503 MoveCircle2D is called, these axes are stopped by the technology template to create a defined initial status. The dynamic values defined in the presetting are used to stop the axes in this status. Figure 4-1 Example of the dynamic response of the Cartesian axes The settings are to be selected depending on the application and do not influence the behavior of the axes during the interpolated motion. Limits The velocity, acceleration and jerk limits must be set according to the mechanical conditions of the X and Y axis. V3.0 Issued Oct. 15th /26

18 Integrating the Technology Template into Projects Figure 4-2 Example of the dynamic limitations of the Cartesian axes! Danger If the motion of at least one axis is limited, the interpolated travel path can be left. For this reason, it should be ensured that the limitations of the Cartesian axes are not reached during the interpolated motion Cam discs Cam_Sinus and Cam_Cosinus The cam discs only have to be created via the S7T-Config configuration software. The actual cam discs are defined online when calling the technology template via FB 503 MoveCircle2D using the given parameter values at the input variables of the block. Inserting cam disc Table 4-5 Configuration of the cam discs Type Parameter Setting Note Interpolation table or polynomial The cam disc is generated by block FB 503 MoveCircle2D. Geometry, interpolation and scaling It is not required to make further settings for the cam discs in S7T-Config since the cam disc is generated and interpolated by block FB 503 MoveCircle2D. V3.0 Issued Oct. 15th /26

19 Integrating the Technology Template into Projects Figure 4-3 Example of creating the cam discs Configuring the conditions for the basic synchronism Configuration After axes Axis_X and Axis_Y have been created as synchronized axes, possible master axes and cam discs must be defined. Coupling between master axis and cam disc must be performed for each axis according to the table mentioned in chapter 4.1 Axis technologies and synchronization relationships. The coupling type between master axis and slave axis to be selected is Setpoint coupling. Figure 4-4 Configuration synchronism (using the example of Axis_X) V3.0 Issued Oct. 15th /26

20 Integrating the Technology Template into Projects Presetting Cam synchronization The presetting for the synchronization of the axis to the cam disc defines how the axis reacts in case of a request for cam disc synchronization. The request for cam disc synchronization is generated in the technology template via the FB 421 MC_CamIn technology function. Table 4-6 Presetting of the synchronism conditions of the axes Parameter Setting Note Synchronizing Effective immediately As a result, all further settings for the synchronization are ineffective. Desynchronization Effective immediately As a result, all further settings for the synchronization are ineffective. The Effective immediately setting ensures that the synchronization or desynchronization process is started immediately upon request of the cam disc synchronization. The actual synchronization process takes place according to the dynamic presettings of the cam disc synchronization. Figure 4-5 Example of the presetting of the synchronization conditions of the axes V3.0 Issued Oct. 15th /26

21 Integrating the Technology Template into Projects Presetting Dynamic response Table 4-7 Presetting of the dynamic response for the synchronism conditions Parameter Setting Note Profile specification Time-related synchronization profile Velocity Jerk Acceleration Deceleration Maximum velocity of the axis for the synchronization procedure. Maximum jerk of the axis for the synchronization procedure. Maximum acceleration of the axis for the synchronization procedure. Maximum deceleration of the axis for the synchronization procedure. Synchronization and desynchronization is performed according to the specified dynamic values. Since the form of related synchronization has been chosen for the cam disc synchronization, the values given here are not relative, as it is not necessary to bring the axes to a certain position for synchronization. Velocity profile Trapezoidal velocity profile The jerk is not taken into account. Figure 4-6 Example of presetting the dynamics for the synchronism conditions Time-related synchronization profile means that the synchronization of the axes via the cam discs does not, as in the master axis-related synchronization profile, depend on the position of the master axis, but that the synchronization is performed via the set dynamic values after calling the FB 421 MC_CamIn technology function. V3.0 Issued Oct. 15th /26

22 Integrating the Technology Template into Projects Due to the related synchronization mode the axis need not be brought to a defined position for synchronization, which is why the dynamic values set here are irrelevant Configuring the conditions for the synchronism In order to be able to use the synchronism for axes Axis_X and Axis_Y as well, one additional synchronism object respectively must be created for these axes. Inserting a superimposed synchronous object The synchronous object required for the superimposed synchronism must be inserted manually via the context menu of the respective axis. Select the desired axis as displayed in the figure below as an example for Axis_Y. The right mouse button takes you to the Context menu, via which you can insert the superimposed synchronous object in the Expert area. Figure 4-7 Inserting the superimposed synchronous object Configuration For the superimposed synchronism the coupling between master axis and cam disc must be made for each axis according to the table mentioned in chapter 4.1 Axis technologies and synchronization relationships.. The coupling type between master axis and slave axis to be selected is also Setpoint coupling. V3.0 Issued Oct. 15th /26

23 Integrating the Technology Template into Projects Figure 4-8 Configuration of superimposed synchronous operation (example of Axis_Y) Presetting Cam synchronization For superimposed synchronous operation it must also be defined how the axis behaves during a request for cam disc synchronization for the superimposed synchronous operation. The request for cam disc synchronization is generated via the FB 441 MC_CamInSuperImposed technology function. Table 4-8 Presetting of the superimposed synchronism conditions of the axes Parameter Setting Note Synchronizing Effective immediately As a result, all further settings for the synchronization are ineffective. Desynchronization Effective immediately As a result, all further settings for the synchronization are ineffective. The Effective immediately setting ensures that the synchronization or desynchronization process is also started immediately upon a request for superimposed cam disc synchronization. The actual synchronization process for the superimposed synchronous operation takes place according to the dynamic presettings of the cam disc synchronization. V3.0 Issued Oct. 15th /26

24 Integrating the Technology Template into Projects Figure 4-9 Example for presetting the superimposed synchronization conditions Presetting Dynamic response Table 4-9 Presetting of the dynamic response for the synchronism conditions Parameter Setting Note Profile specification Velocity Jerk Acceleration Delay Time-related synchronization profile Maximum velocity of the axis for the synchronization procedure. Maximum jerk of the axis for the synchronization procedure. Maximum acceleration of the axis for the synchronization procedure. Maximum deceleration of the axis for the synchronization procedure. Synchronization and desynchronization is performed according to the specified dynamic values. Since the form of related synchronization has been chosen for the cam disc synchronization, the values given here are not relative, as it is not necessary to bring the axes to a certain position for synchronization. Velocity profile Trapezoidal velocity profile The jerk is not taken into account. V3.0 Issued Oct. 15th /26

25 Error messages Figure 4-10 Example of presetting the dynamics for synchronous operation 5 Error messages 5.1 Error codes at the ErrorSource output Execute DB_PointTable MoveReverse Master_Stop Master_Continue Master_Abort CamIn_Tolerance Velocity Acceleration Jerk Override FB 503 MoveCircle2D Done Busy CommandAborted Position_OutOf_Tolerance Master_Stopped Error ErrorID ErrorSource ErrorPoint PosSetPoint_X PosSetPoint_Y PosSetPoint_Z Table 5-1 Error codes at the ErrorSource output ErrorSource [HEX] 0000 No error Meaning Note 0001 Error during resetting or acknowledging the error at Cam_Sinus Error during clearing the cam from cam disc Cam_Sinus. FB 402 MC_Reset FB 434 MC_CamClear 0003 Error during inserting cam segments into FB 435 V3.0 Issued Oct. 15th /26

26 History ErrorSource [HEX] Meaning cam disc Cam_Sinus Error during interpolating the cam of cam disc Cam_Sinus Error during resetting or acknowledging the error at Cam_Cosinus Error during clearing the cam from cam disc Cam_Cosinus Error during inserting cam segments into cam disc Cam_Cosinus Error during interpolating the cam of cam disc Cam_Cosinus Error during activating the virtual axis Axis_Master. 000A Error during resetting or acknowledging the error at Axis_Master. 000B Error during referencing the virtual axis Axis_Master. 000C Error during cam disc synchronization with Axis_X. 000D Error during cam disc synchronization with Axis_Y. 000E Error during superimposed cam disc synchronization with Axis_X. 000F Error during superimposed cam disc synchronization with Axis_Y Error during travel motion of the virtual axis Axis_Master. Note MC_CamSectorAdd FB 436 MC_CamInterpolate FB 402 MC_Reset FB 434 MC_CamClear FB 435 MC_CamSectorAdd FB 436 MC_CamInterpolate FB 401 MC_Power FB 402 MC_Reset FB 403 MC_Home FB 421 MC_CamIn FB 421 MC_CamIn FB 421 MC_CamInSuperImposed FB 421 MC_CamInSuperImposed FB 410 MC_MoveAbsolute 0011 Error during stopping of Axis_X. FB 405 MC_Halt 0012 Error during stopping of Axis_Y. FB 405 MC_Halt 00FF Error during plausibility check of the block parameter. 6 History Table 6-1 History Version Date Modification V Document generation V3.0 Issued Oct. 15th /26