Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 197
Camming Direction
Cams can be configured to add or subtract their incremental contribution to the
axis command position. Control over this behavior is via the Direction parameter.
Camming in the Same Direction
When Same is selected or entered as the Direction for the MATC instruction, the
axis position values calculated from the cam profile are added to the command
position of the axis. This is the most common operation, as the profile position
values are used just as entered in the original cam table. That is, consecutive
increasing profile values result in axis motion in the positive direction and
vice-versa.
Camming in the Opposite Direction
When Opposite is selected or entered as the Direction, the axis position values
calculated from the cam profile are subtracted from the command position of the
axis. Thus, axis motion is in the opposite direction from that implied by the
original cam table. That is, consecutive increasing profile values result in axis
motion in the negative direction and vice-versa.
Changing the Cam Profile
When Unchanged is selected or entered as the Direction, other time cam
parameters may be changed while preserving the current or previous camming
direction (same or opposite). This is useful when the current direction is not
known or not important. For first time execution of a cam with Unchanged
selected, the control defaults the direction to Same.
Changing the Camming Direction
When Reverse is selected the current or previous direction of the time cam is
changed from Same to Opposite or from Opposite to Same. For first time
execution of a cam with Reverse selected, the control defaults the direction to
Opposite.
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