Creating cams in runtime

I have a system with Simotion D fw 4.4 where a slave axis is cammed to a master axis.
The camming is done with a cam that accelerates the slave towards the same speed of the master (polynome 5).
After this cam a lineair cyclic cam is attached.
So after ramp up of the slave towards master speed (acceleration cam), the lineair cam is continuously repeated. So this principle looks somewhat like a 1:1 gearing but executed by cams.
I also have  a mechanism to change the offset of the slave to master by substituting a cam with a cam with different master slave distances.
All cams are calculated in runtime by the functions of the LBasic library of Siemens.
This all works ok.
My only question is that when I change the offset of the master to the slave by substituting a cam with cam with different master slave distances, I should want to have control of the maximum velocity and acceleration during that offset motion.
Whith functions o fthe LBasic library now I can only choose a master and slave distance, no limits for velocity of acceleration.
If I want f.I. an offset of the master to the slave of 20, I could use a cam with f.I. 100 master distance and 120 slave distance. Also I could use 200 master distance and 220 slave distance. The last choice would give me lower max speeds and max accelerations, but longer distance.
What I should want is : a requested offset, with a maximum for total master distance, maximum for slave speed and maximum for slave acceleration.
I don't find these options in the LBasic library and also not in the LCamHdl library.
In the LCamHdl library I have functions to calculate the max velocity and acceleration for a given cam. I could use these and then repeat some cam generations (with different distances) until optimum maxima, but this seems rather much code processing.
So, if someone has experience with my question : what is the best way to do it, or what options do there exist already?

Thanks

Thanks already for the answer, but I have no problems at the boundaries of the cams.
Let me explain a specific situation :
My slave axis is already camming with the master axis. This is done by a lineair cam with master distance 500 mm and slave distance of 500 mm that is executed cyclically. There is no offset between master and slave (slaveposition = masterposition), and the speed is always constant during this phase, there are no accelerations when the next cam is attached to the previous (because of cyclic execution of the lineair cam).
Now I should want to introduce an offset of 20 mm between master and slave. I do this by at a random moment enabling a different cam. This cam is generated at runtime, with for startpoint : velocity = 1 (same as master), and acceleration 0, and for the endpoint velocity = 1, and acceleration = 0. The distance in the definition range is 100 mm, in the value range, it is 120 mm, and a polynomial 5 is selected. After this cam the normal lineair cams are are executed again cyclically again. This works ok, I have an actual acceleration of 0 at start and end of of the cam for offsetchange.
The specific question is now that for a master distance 100, slave distance 120, this will result in a certain maximum slave speed, and a certain maximum acceleration. Maybe these last values are too high to me. I can reduce max velocity and acceleration by f.I. choosing 150 mm for master distance and 170mm for slave distance. But I will never (with the existing functions) know max velocity and max acceleration before I create a cam, I only can retrieve it after I have chosen definition range and value range and created the cam. I could do this exercise (choosing distance values of cam, creating cam, checking max velocity, max acceleration of cam) a couple of times until I have cam where the max velocity and max acceleration stays within my own imposed limits and where the requested offset is achieved.
I should want to know if there is a more efficient way to achieve this : creating a cam that starts and stops with acceleration 0 and the same speed for slave and master, but that creates a position offset between master and slave, using a polynomial 5th order. The request is a master slave position offset, and this has to be achieved within a maximum master distance, with a slave velocity that is not higher then an imposed maximum and with a slave acceleration that is not higher then an imposed maximum.
So what functions exist for this, what is a proposed procedure (for runtime generation of the cam)?

DavidBrown

Thanks already for the answer, but I have no problems at the boundaries of the cams.
Let me explain a specific situation :
My slave axis is already camming with the master axis. This is done by a lineair cam with master distance 500 mm and slave distance of 500 mm that is executed cyclically. There is no offset between master and slave (slaveposition = masterposition), and the speed is always constant during this phase, there are no accelerations when the next cam is attached to the previous (because of cyclic execution of the lineair cam).
Now I should want to introduce an offset of 20 mm between master and slave. I do this by at a random moment enabling a different cam. This cam is generated at runtime, with for startpoint : velocity = 1 (same as master), and acceleration 0, and for the endpoint velocity = 1, and acceleration = 0. The distance in the definition range is 100 mm, in the value range, it is 120 mm, and a polynomial 5 is selected. After this cam the normal lineair cams are are executed again cyclically again. This works ok, I have an actual acceleration of 0 at start and end of of the cam for offsetchange.
The specific question is now that for a master distance 100, slave distance 120, this will result in a certain maximum slave speed, and a certain maximum acceleration. Maybe these last values are too high to me. I can reduce max velocity and acceleration by f.I. choosing 150 mm for master distance and 170mm for slave distance. But I will never (with the existing functions) know max velocity and max acceleration before I create a cam, I only can retrieve it after I have chosen definition range and value range and created the cam. I could do this exercise (choosing distance values of cam, creating cam, checking max velocity, max acceleration of cam) a couple of times until I have cam where the max velocity and max acceleration stays within my own imposed limits and where the requested offset is achieved.
I should want to know if there is a more efficient way to achieve this : creating a cam that starts and stops with acceleration 0 and the same speed for slave and master, but that creates a position offset between master and slave, using a polynomial 5th order. The request is a master slave position offset, and this has to be achieved within a maximum master distance, with a slave velocity that is not higher then an imposed maximum and with a slave acceleration that is not higher then an imposed maximum.
So what functions exist for this, what is a proposed procedure (for runtime generation of the cam)?

 No suggestions so far?

Nobody has experiences, or advices with this way of creating cams in runtime?

Thanks.

a 5th order polynomial generally will not be achievable with the constraints you want to place (an acceleration limit and a distance limit). The distance delta along with start and end acceleration of 0 is actually defining the max velocity and max acceleration. Literally by definition. as inside that calculation there is an Amax := , and Vmax :=

What happens then for any arbitrary solution would be a piecewise combination of segments, very likely with some pretty wild oscillations in velocity and acceleration and direction reversals, and/or non-zero start and end accelerations. So with that also undesirable, it's actually a very nontrivial problem to solve.

As I interpret, the constraint is actually: use the distance with start and end A=0, but increase the distance such that peak acceleration and velocity are limited, but at the same time don't go over a maximum distance and no direction reversals. A 5th order polynomial, by itself, will very often have "no solution" to this desire.

Some math (beyond my ability at the moment) would at least help with getting better guesses to the limit function. Plugging in startA=0, endA=0, acceleration limits and velocity limits, and then coming up with the best guess or minimum distance delta.

DavidBrown:

Interpreting what you typed as 'what about if distance no longer matters', then at that point program it to do a _setCammingOffset or _setGearingOffset with the dynamic response parameters in which you define the peak velocity and acceleration constraints and let Simotion handle it.

Yes Simotion may whine in its usual way with an alarm about velocity or acceleration being limited, but regardless it will do it.

This is opposed to coming up with a supposedly perfect cam to do the offset motion, but suddenly the masteraxis speeds up a little and your slaveaxis goes out of bounds in accel or velocity anyway.

Is it possible to determine a travel distance (the unknown value) knowing what all the acceleration and velocity limits are, master staying at constant velocity, and knowing what your initial speed is? Yes. Some search terms are:

s-curve motion profile equation

s-curve trajectory calculation

But it becomes very difficult very quickly to get any usable answer.