170 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Master
Lock
Position
REAL REAL
Immediate
or Tag
When the Master Offset = 0.0, the Master Lock
Position is the Master axis absolute position
where the slave axis locks to the master axis. If
the Master Offset is X, then the Slave axis will
lock to the Master axis at the absolute master
position value of Master Lock Position –X.
For example: Assume a Master Lock Position =
50 and a Master Offset Move = 10. Also assume
that the Master axis move (MAM) and Master
offset move (MOM) start at the same time.
Then the Slave will lock to the Master at an
absolute Master axis position of 40. This in
effect shifts the Cam profile 10 units to the left.
If Pending is selected as the Execution Schedule
value, then Master Lock Position is ignored.
Cam Lock
Position
REAL REAL
Immediate
or Tag
This determines the starting location in the cam
profile.
Master
Reference
UINT32 UINT32 Immediate
Sets the master position reference to either
Command position or Actual position. If
Pending is selected for the Execution Schedule
value, then Master Reference is ignored.
0 = Actual – slave axis motion is generated
from the current position of the master axis as
measured by its encoder or other feedback
device.
1 = Command – slave axis motion is generated
from the desired or commanded position of the
master axis.
Master
Direction
UINT32 UINT32 Immediate
This determines the direction of the master axis
that generates slave motion according to the
cam profile.
Options are:
0 = Bi-directional – slave axis can track the
master axis in either direction.
1 = Forward only – slave axis tracks the master
axis in the forward direction of the master axis.
2 = Reverse only – slave axis tracks the master
axis in the opposite direction of the master axis.
For the array operands, you do not have to include the array index. If you do not
include the index, the instruction starts with the first element in the array ([0]).
See Structured Text Syntax for more information on the syntax of expressions
within structured text.
For the operands that require you to select from available options, enter your
selection as:
This Operand Has These Options Which You
Enter as Text Or Enter as a Number
ExecutionMode once
continuous
persistent
0
1
2
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