Values at the “TableFctType” input

The manufacturer-specific "MC_CamIn.TableFctType" input specifies how to interpolate
between two table lines:

  HLI_STEP_DIRECT             : UDINT := 0;

Within the position interval of the master axis s_m_i, s_m_i+1 the position entry of the slave axis s_s_i is output.

  HLI_LINEAR                  : UDINT := 1;

Within the position interval of the master axis s_m_i, s_m_i+1 a linear interpolation is inserted between the position entries of the slave axis s_s_i, s_s_i+1.

  HLI_POLYNOM_3               : UDINT := 2;

Within the position interval of the master axis s_m_i, s_m_i+1 a constant tangent cubic Bezier spline is interpolated between the four adjacent position entries or the slave axis s_s_i-1, s_s_i, s_s_i+1, s_s_i+2. Polynomial coefficient calculation takes place online.

  HLI_POLYNOM_3_KOEFF         : UDINT := 3;

Within the position interval of the master axis s_m_i, s_m_i+1 the position entry of the slave axis s_s_i (lines containing 4 values a_i) consists of the coefficients of a polynomial with the following form

X = a₀ + a₁t + a₂t2 + a₃t3.

Polynomial coefficient calculation therefore takes place offline.

  LINE_POLY5                  : UDINT := 4;

Motion sections alternating between LINE and POLY5, starting with LINE.

  POLY5_LINE                  : UDINT := 5;

Motion sections alternating between LINE and POLY5, starting with POLY5.

  TABLE_DEFINED               : UDINT := 6;

The interpolation type is defined in the table.