Motion Event Instructions
276 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Output Compensation Array Checks
The following output compensation array checks are used with the MAOC
instruction.
If you select a latch and unlatch delay combination that results in a compensated
cam of less than minimum width, the width of the compensated cam is set to the
minimum.
If you select a mode less than 0 or greater than 3, a Normal mode is considered and
you are warned with an instruction error Illegal Output Compensation.
If you select a duty cycle less than 0 or greater than 100 and the mode is set to
Pulsed or Inverted and Pulsed, a 0 or 100 duty cycle is considered and you are
warned with an instruction error Illegal Output Compensation.
If you select a cycle time less than or equal to 0 and the mode is set to Pulsed or
Inverted and Pulsed, the output bit is not pulsed and you are warned with an
instruction error Illegal Output Compensation.
Output
The output is the set of 32 output bits that can be set and reset depending on the
specified Output Cam. The output can be either a memory location or a physical
output (for example, Local.0.O.Data).
Input
The input is the set of 32 input bits that are can be used as enable bits depending
on the specified Output Cam. The input can be either a memory location or a
physical input (for example, Local.0.I.Data).
Cam Start and Cam End Positions
The cam start and cam end positions define the left and right boundary of the
Output Cam range. When the cam position moves beyond the cam start or cam
end position, the behavior of the Output Cam is defined by the execution mode
and execution schedule. Changes to the cam start or cam end position don’t take
effect until the execution of a current MAOC instruction completes.
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