114 Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016
Chapter 8 Configure Camming
Figure 54 - Dwell Cam Profile
Behavior of Pending Cams
If you want to run one profile and then pend another one, you must execute the
MAPC instructions in the right order.
For example, if you want to run only one slave cycle, start with the
Accel_Profile and pend the Decel_Profile immediately, that results in
2 x ½ Cycle = 1 Cycle. Both of these actions are executed at the same point in
time:
• Set the execution schedule in the MAPC instruction for Acceleration as
Immediate.
• Set the Deceleration to Pending.
Execution Schedule: Immediate
Execution Schedule: Pending
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