Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 341
Motion Control Applications Chapter 12
Figure 165 - Clutch Engagement Diagram
In addition, the initial lead pulse number of the master axis before engagement
can be set by parameter ID375 (P5.087) ECamLeadPulseBeforeEngaged. That
means when the engagement condition is reached, the clutch is still waiting. It is
engaged until the lead pulse is reached, as shown in Figure 166
.
Figure 166 - Clutch Engagement Lead Pulses
Condition for Disengagement
When the E-Cam function is enabled and the clutch is engaged, the slave axis
operates according to the master axis signal and the cam curve. When the slave
axis completes its motion, it is stopped either by disabling the E-Cam function or
disengaging the clutch. As shown in Figure 167
, if the clutch is in the disengaged
state, the slave axis will always remain stationary regardless of the action of the
master axis.
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