Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 367
Motion Control Applications Chapter 12
• E-Cam Curve — Read the E-Cam curve data from the data array to make
sure that this curve is correct. Check the starting position of the E-Cam
data array ID369 (P5.081) and the E-Cam segment numbers
ID370 (P5.082).
• E-Cam Gear Ratio and Curve Scaling — Check the master axis gear ratio
(ID372 (P5.084)/ ID371 (P5.083)) and the slave axis gear ratio (ID151
(P1.044)/ ID152 (P1.045)). Check the E-Cam curve scale ID311
(P5.019). If the scale setting is too small, it is difficult to observe the motor
movement. You can use the software oscilloscope in KNX5100C software
to check if the motor rotates slightly.
• Clutch State — Read the value of ID376 (P5.088.D) to know the current
state of the clutch.
ID376 (P5.088.D) = 0 means that the clutch is in the disengaged state.
Check the setting of the engagement condition ID376 (P5.088.D).
ID376 (P5.088.D) = 1 means that the clutch is in the engaged state and
the slave axis will operate according to the master axis. Check the time of
DI trigger if the disengagement condition is controlled by digital input
(ID376 (P5.088.D) = 1). Check the setting of the number of pulses before
disengagement (ID377 (P5.089.D)) if the disengagement condition is
stopped immediately after disengagement (ID376 (P5.088.D) = 2) or
deceleration stop after disengagement (ID376 (P5.088.D) = 6).
• ID376 (P5.088.D) = 2 means that the clutch is in the pre-engaged state.
Check the value of lead pulse number ID375 (P5.087.D). The clutch is
engaged only if sufficient pulses from the positive direction are received. If
received pulses are from the reversed direction, correct it by following one
of these steps:
– Check the pulse source of master axis: Modify the polarity of the
encoder output pulse (ID119 (P1.003).
– The master axis pulse input is from the MFB connector: Modify the
auxiliary encoder feedback direction (ID173 (P1.074.Z).
– The master axis pulse input is from the I/O connector: correct the
wiring by interchanging the A/B phase wiring.
Macro Commands
ID385 (P5.097) MacroCmdIssue&Result is used to issue a macro command
(write this parameter) or get the execution result of a macro command (read this
parameter).
If the command issues 0001, 1001h is returned if successful and Fxxxh if
unsuccessful (depending on the command description). If you execute a
command that is not supported, the failure code F001h is returned.
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