Values at input “StartMode”

  HLI_CI_RAMP_IN              : UDINT := 1;

  HLI_CI_ABSOLUTE             : UDINT := 2;

  HLI_CI_RELATIVE             : UDINT := 4;

Ramp-In and Absolute are always used. This is why these three bits have no effect

  HLI_CI_LOCK_TABLE           : UDINT := 8;

Specifies whether the table used for online value modification during coupling is locked. This should always be set for table data types to which atomic access is not possible. Otherwise, the problem of simultaneous memory access must be observed.

  HLI_CI_F_PERIODIC           : UDINT := 16;

If this flag is not set at MC_CamIn, the saved cam is passed exactly once on each rising edge at “MC_CamIn.Execute“. Travel over the cam is synchronised to the modulo passage of the master position. If the slave axis is not already at the start position of the CAM table, the slave axis is moved immediately to the cam start position at the moment of a rising edge at "MC_CamIn.Execute” and stays there until the next time the master axis passes zero point. From there, the cam profile is run through precisely once. If "MC_CamIn.Execute” is triggered again during the cycle, the cam is run through a further time. Without retriggering, the slave axis is decoupled from the master axis at the end of the CAM table. This means that the slave axis is stopped abruptly if it is not already at standstill.

If the cam was modelled for an endlessly rotating slave axis, in connection with the use of interpolation point interpolation (“MC_CamIn.TableFctType” = HLI_LINEAR or HLI_POLYNOM_3), it is necessary to specify in which direction modulo correction is to take place.

If the cam was modelled so that it passes through the modulo range of the slave axis in the positive direction, the bit represented by the global constant

  HLI_CI_ENDLESS_POSITIVE     : UDINT := 32;

must be set in “MC_CamIn.StartMode”.

If the cam passes through the modulo range of the slave axis in the negative direction, the following bit represented by the global constant

  HLI_CI_ENDLESS_NEGATIVE     : UDINT := 64;

must be set in “MC_CamIn.StartMode”.