198 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Specifying the Cam Profile
To execute a MATC instruction, a calculated Cam Profile data array tag must be
specified. Cam Profile array tags may be created by the Logix Designer tag editor
or the MATC instruction using the built-in Cam Profile Editor, or by executing
an Motion Calculate Cam Profile (MCCP) instruction on an existing Cam array.
The data within the Cam Profile array can be modified at compile time using the
Cam Profile Editor, or at run-time with the Motion Calculate Cam Profile
(MCCP) instruction. In the case of run-time changes, a Cam array must be
created in order to use the MCCP instruction.
All but the status and type elements of the Cam Profile array element structure are
hidden from the Logix Designer tag editor. The status parameter is used to
indicate that the Cam Profile array element has been calculated. If execution of a
camming instruction is attempted with any uncalculated elements in a cam profile,
the instruction errors. The type parameter determines the type of interpolation
applied between this cam array element and the next cam element.
Cam Profile Array Checks
The Status member of the first element in the cam profile array is special and used
for data integrity checks. For this reason, the MATC must always specify the cam
profile with the starting index set to 0. This first cam profile element Status
member can have the following values
Status Variables Description
0 Cam profile element has not been calculated.
1 Cam profile element is being calculated.
2 Cam profile element has been calculated
n Cam profile element has been calculated and is currently being used by (n-2) MAPC or MATC instructions.
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