Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016 119
Configure Camming Chapter 8
Cam Start Point that results in a velocity or acceleration discontinuity to the
slave axis if the master axis is moving.
Figure 58 - Changing the Cam Lock Position
Pending
The execution of an MAPC instruction can be deferred pending completion of
a currently executing position cam. You can use Execution Schedule selection
of Pending to blend two position cam profiles together without stopping
motion.
This Execution Schedule selection of Pending is fully described in
Pending Cams on page 122
.
Forward Only, Reverse Only, or Bidirectional Execution Schedules
The slave axis is not locked to the master until the master axis satisfies the
condition that is specified when the Execution Schedule parameter is set to any
of the following parameters:
•Forward Only
• Reverse Only
•Bidirectional
With any of these selections, the camming process monitors the master axis to
determine when the master axis passes the specified Master Lock Position in
the specified direction. In a rotary axis configuration, this lock criterion is still
valid, independent of the turns count.
Cam
Start
Position
Position Cam Lock
Position Cam
Initiated
Cam Profile
Position Cam Status
Slave Axis
Position
Master Axis
Position
Status
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