Motion Event Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 267
Structured Text
For the array operands, you do not have to include the array index. If you do not
include the index, the instruction starts with the first element in the array ([0]).
See Structured Text Syntax for more information on the syntax of expressions
within structured text.
For the operands that require you to select from available options, enter your
selection as:
This Operand Has These Options Which You
Enter as Text Or Enter as a Number
ExecutionMode once
continuous
persistent
0
1
2
ExecutionSchedule immediate
pending
forwardonly
reverseonly
bidirectional
0
1
2
3
4
Reference actual
command
0
1
MAOC Instruction
A valid Cam Arm position is any position, between and including, the Cam Start
and Cam End positions. If the Cam Arm position is set to a value equal to (or very
close to) the Cam Start or Cam End position, compensation may put a cam
position out of range of the Cam Start and Cam End position. Compensation is
affected by Output Compensation values specified for Position Offset, Latch
Delay, and Unlatch Delay, as well as internal compensation values applied based
on the Reference and Output parameters of the MAOC instruction.
No side effects occur if the MAOC instruction is configured with an Execution
mode of Continuous or Persistent, and a pending MAOC instruction does not
exist when the Output Cam is armed and the axis moves.
The following side effects may occur of the MAOC instruction is configured with
an Execution Mode of Once Only, and a pending MAOC exists when the Output
Cam is armed and the axis moves.
One or more outputs may never change state.
The MAOC instruction may complete immediately.
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