Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 345
Motion Control Applications Chapter 12
• Stop state (ID376 (P5.088.D) = 0) — In this state, the clutch is
disengaged, and the system continuously checks the engagement condition
(instance P5.088.Z, (376)). When the engagement condition is reached, it
enters into the engaged state if instance ID375 (P5.087) equals 0. And it
enters the engaged state if the lead pulses before engagement is set and
reached. The clutch also enters into the stop state if the E-Cam function is
disabled.
• Engaged state (ID376 (P5.088.D) = 1) — In this state, the clutch is
engaged, and the system continuously checks the disengagement condition
(ID376 (P5.088.U)). The system enters into the stop state if on of the
following conditions is reached:
– digital input (DI) controlled disengagement
– stop immediately after disengagement
– decelerate stop after disengagement (ID376 (P5.088.D)= 1, 2, 6).
If the disengagement condition of entering loop mode after disengagement
(ID376 (P5.088.U)=4) reached, the system will enter into the pre-
engaged state.
• Pre-engaged state (ID376 (P5.088.D) = 2) — In this state, the clutch is
disengaged, and the system continuously checks lead pulses before
engagement (ID375 (P5.087)) and the skipped master position pulses
before re-engagement (ID380 P5.092)). If the condition reached, the
clutch engages and the system enters into the engaged state.
Figure 172 - E-Cam System State
E-Cam Gear Ratio and Curve Scaling
In the E-Cam system, there are two kinds of electronic gear ratios that can
determine the motion performance:
• Master axis electronic gear ratio
• Slave axis electronic gear ratio
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