204 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Stopping a CAM
Like other motion generators (for example, jog, move, gear) active cams must be
stopped by the various stop instructions, MAS, or MGS. CAM motion must also
stop when the ControlLogix processor changes OS modes. The MAS instruction,
in particular, must be able to specifically stop the camming process. This behavior
should be identical to the MAS functionality that specifically stops a gearing
process.
Merging from a CAM
Like other motion generators (for example, jog, move, gear) active CAMs must
also be compliant with motion merge functionality. Moves and Jogs, in particular,
must be able to merge from active camming. This behavior should be identical to
the merge functionality applied to a gearing process.
Important:
The MATC instruction execution completes in a single scan, thus the Done (.DN) bit and the In Process (.IP)
bit are set immediately. The In Process (.IP) bit remains set until the initiated Time Camming process is
superseded by another MATC instruction, or terminated by a Motion Axis Stop command, Merge
operation, or Servo Fault Action.
In this transitional instruction, the relay ladder, toggle the Rung-condition-in
from cleared to set each time the instruction should execute.
Structure
See Input and Output Parameters Structure for Single Axis Motion Instructions
for the input and output parameters that are available for the MATC instruction
via the Master Driven Speed Control (MDSC) function. Before any of these
parameters is active, you must execute an MDAC instruction and it must be active
(IP bit is set).
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