Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 199
Before starting a cam on a specified axis, the MATC instructions checks if the cam
profile array has been calculated by checking the value of the first cam profile
element’s Status member. If Status is 0 or 1 then the cam profile has not been
calculated yet and the MATC instruction errors. If the cam profile array has been
completely calculated (Status > 1), the instruction then increments the Status
member indicating that it is in use by this axis.
When the cam completes, or terminates, the Status member of the first cam
profile array element is decremented to maintain track of the number of cams
actively using the associated cam profile.
Linear and Cubic Interpolation
Time cams are fully interpolated. This means that if the current master time value
does not correspond exactly with a point in the cam table associated with the cam
profile, the slave axis position is determined by linear or cubic interpolation
between the adjacent points. In this way, the smoothest possible slave motion is
provided.
Each point in the Cam array that was used to generate the Cam Profile can be
configured for linear or cubic interpolation.
Electronic camming remains active through any subsequent execution of jog, or
move processes for the slave axis. This allows electronic camming motions to be
superimposed with jog, or move profiles to create complex motion and
synchronization.
Scaling Time Cams
A time cam profile can be scaled in both time and distance when it is
executed. This scaling is useful to allow the stored profile to be used only for the
form of the motion with the scaling used to define the time or distance over which
the profile is executed, as shown below.
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