Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 365
Motion Control Applications Chapter 12
In the advanced settings tab, you can adjust the angle of the waiting zone and the
angle of the S-curve. Increase the sync zone so that the printing axis and the
dragging axis have a stable constant velocity motion when the printing operation
is performed, which can improve the printing quality.
E-Cam and PR Command Operation
When the electronic cam is operating, if the PR program of a position increment
command is triggered, the electronic cam and the PR command overlap at the same time.
As shown in the example in Figure 186
, if the slave axis displacement is in the same
direction as the position increment command, the slave axis speed is 300 rpm. At the
same time, if a co-directional position increment command with a target speed of 200
rpm triggered, then the target speed changes to 500 rpm. The slave axis superimposes the
PR position increment command with the E-Cam command during the PR command
operation, and completes the 5000 PUU position increment command at a target speed
of 500 rpm. If the slave axis displacement and the position increment command are in the
opposite direction, the slave axis speed is 100 rpm when a reverse position increment
command with a target speed of 200 rpm is triggered. The E-Cam command is executed
at a target speed of 100 rpm until the position increment command of the -5000 PUU is
executed and then it returns to the original speed.
Figure 186 - E-Cam Command and PR Command Overlap
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