Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 231
Cam pending is a technique that lets the blending of one cam profile together
with another without stopping either master or slave axis movement. An
Execution Schedule selection of Pending can thus be used to blend two position
cam profiles together without stopping motion.
The Pending execution feature is useful when the axis must be accelerated up to
speed by using a specific velocity profile. When this acceleration profile is done, it
must be smoothly blended into the operating cam profile, which is typically
executed continuously. To stop the slave axis, the operating cam profile is
smoothly blended into a deceleration profile such that the axis stops at a known
location, as shown in this diagram.
MAPC Instruction
MATC Instruction
By executing the position cam profile as a Pending cam profile while the current
profile is still executing, the appropriate cam profile parameters are configured
ahead of time. This condition makes the transition from the current profile to the
pending profile seamless. Synchronization between the master and slave axes is
maintained. To make sure of smooth motion across the transition, however, the
profiles must be designed as follows. No position, velocity, or acceleration
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