Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 183
the cam motion generator from moving backward through the cam profile if the
master reverses direction.
When the master axis again reverses, resuming motion in the desired direction, the
slave axis picks up again when the master reaches the position where it initially
reversed. In this way, the slave axis maintains synchronization with the master
while motion in the wrong direction is inhibited. This is especially useful where
motion in a certain direction can cause physical damage to the machine or to the
product.
Moving While Camming
Motion Axis Moves may be performed while camming to provide sophisticated
phase and offset control while the slave axis is running.
Incremental Moves
An Incremental Motion Axis Move (MAM) instruction may be used on the slave
axis (or master axis if configured for Servo operation) while the position cam is
operating. This is particularly useful to accomplish phase advance/retard control.
The incremental move distance can be used to eliminate any phase error between
the master and the slave, or to create an exact phase relationship.
Master Offset Moves
A MAM instruction can also be used while the position cam is operating to shift
the master reference position of the cam on the fly. Unlike an incremental move
on the slave axis, a master offset move on the slave axis shifts the cam profile
relative to the master axis, as shown in graphic Master Offset Move below.
When the MAPC instruction (except pending) is initiated, the corresponding
active Master Offset Move is disabled and the corresponding Master Offset,
Strobe Offset, and Start Master Offset are reset to zero. In order to achieve the
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