Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 203
the initial cam. This method addresses cases where immediate cams would finish
before the pending cam could be reliably loaded.
After a Pending time cam has been configured, the Time Cam Pending Status bit
of the Motion Status word for the specified axis is set to 1 (true). When the
pending (new) profile is initiated and becomes the current profile, Time Cam
Pending Status bit is immediately cleared as shown below.
Master Driven Speed Control (MDSC) and Pending CAMS
For the Master Driven Speed Control (MDSC) function, a pending CAM is
specified with an Execution Schedule of Pending.
Both a pending CAM and the active CAM must be in the same mode - either both
in time driven mode or both in MDSC driven mode. An instruction that pends a
CAM to an active CAM in a different mode (than the active CAM) will cause an
error.
All pending CAMs must use the Immediate Forward or the Immediate Reverse
Lock Direction. A pending CAM with a specified Lock Position with a Position
Forward Only or Position Reverse Only Lock Direction will cause a
LOCK_DIRECTION_CONFLICT (95) error. See MDSC Error Codes for a
list of runtime error codes. A second pending CAM overlays the first pending
CAM in memory.
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