Rockwell Automation Publication 1756-AT017A-EN-P - January 2013
Position-based Output Control with the MAOC Instruction 17
This application example also requires you to use output compensation with the
MAOC instruction. Output compensation enables the motion planner to
account for the delay in opening and closing valves, relays, or other delays
inherent to the application. As shown in
Figure 17, the valve takes 10 ms to open
and 15 ms to close.
Figure 17 - Output Compensation for Applicator Control
Cam End Position Set equal to the unwind distance of the axis. In this example, the distance is 1.0.
Output Compensation Specify the tag associated with the output compensation structure, as shown in
Figure 17.
Execution Mode Set to Continuous. The instruction can run continuously because the virtual line
master axis unwinds with each product.
Execution Schedule Set to Forward Only. The instruction starts as soon as the axis moves past the axis
arm position in the forward direction.
Axis Arm Position Set to 0.0 to align the output cam with the virtual master axis.
Cam Arm Position Set to 0.0. This operand determines the position in the output cam at the
moment that the output cam is armed. In this application, no phase correction is
required.
Position Reference Set to Command because the target axis is controlled.
Table 5 - MAOC Operands for Applicator Control (continued)
Operand Configuration
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