Table format

The table format used is the so-called zebra format, in which, as shown in the previous chapter, segments linked by straight lines (corresponding to constant speed) and segments linked with polynomials of the fifth order (Poly5 segment) alternate.

There must always be an even number of segments. It is also necessary to define whether the first segment begins with a straight line or a polynomial. The area between the last point of the table and its first point is referred to as the first segment.

The shape of the curve in the first segment is defined by the interpolation type. The LINE-POLY5 interpolation type defines that the first segment is travelled through with a straight line. In the case of the POLY5-LINE type, this segment contains a polynomial. Contrary to the interpolation point tables, in the case of these tables the LINE-POLY5 or POLY5-LINE interpolation type can be specified in the "Functiontype" token.

If this entry is to take effect, the PLC must transfer the "TableDefined" value in the "FunctionType" parameter of the PLCopen function block MC_CamIn. Otherwise, the interpolation type entered in MC_CamIn on commanding takes effect. Inconsistencies between the table entry and PLC commanding are thus avoided.

Notice

For the LINE/POLY5 interpolation type, the value 4 must be specified in the table or in MC_CamIn. The POLY5/LINE type requires the value 5.

As already mentioned, for each line the useful data in the table contains master and slave value pairs, and the master position is specified in column 0 and the slave position in column 1, each in the unit 1E-4° or 1E-4 mm.

Notice

In the table's header, the Table type in the "Tabletype" token must be set to the two-column integer format by entry of the value 7.