122 Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016
Chapter 8 Configure Camming
Figure 60 - Time Cam Status
If an MATC instruction is executed on an axis that is already actively time
camming, an Illegal Dynamic Change error is generated (error code 23). The
only exception for this occurrence is if the Execution Schedule is specified as
pending.
Pending
The execution of a MATC instruction can be deferred pending completion of
a currently executing time cam profile. You can use Execution Schedule
selection of Pending to blend two time cam profiles together without stopping
motion.
Pending Cams
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 graphic Pending Cam Execution
.
Cam
Start
Position
Time Cam Status
Time Cam
Initiated
Cam Profile
Axis
Position
Time
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