Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 187
Status Bits
MAPC Changes to Status Bits
If the Execution Schedule is set to Immediate, execution of the MAPC instruction
simply sets both the Position Cam Status and the Position Cam Lock Status bits
to True.
Bit Name State Meaning
Position Cam Status TRUE Position Camming is Enabled.
Position Cam Lock Status TRUE Slave Axis is Locked to the Master Axis according
to the Cam Profile.
Position Cam Pending Status Unchanged No pending Position Cam.
If the Execution Schedule is set to Forward or Reverse, execution of the MAPC
instruction initially sets the Position Cam Status bit to True and the Position
Cam Lock Status bits to False. Position Cam Lock Status transitions to True
when the Execution Schedule condition is satisfied.
Bit Name State Meaning
Position Cam Status TRUE Position Camming is Enabled.
Position Cam Lock Status FALSE Slave Axis is waiting for Master Axis to reach Lock
Position.
Position Cam Pending Status Unchanged No pending Position Cam.
If the Execution Schedule is set to Pending, execution of the MAPC instruction
does not affect the current state of either the Position Cam Status or Position
Lock Status bits. Position Cam Pending Status bit is set to True immediately and
transitions to False when the pending cam becomes the active cam.
Bit Name State Meaning
Position Cam Status Unchanged Position Camming is Enabled.
Position Cam Lock Status Unchanged Slave Axis is waiting for Master Axis to reach Lock
Position.
Position Cam Pending Status TRUE Pending Position Cam.
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