Motion Event Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 277
Execution Mode
Depending on the selected execution mode, the Output Cam behavior may differ,
when the cam position moves beyond the cam start or cam end position.
Mode Behavior
Once When the cam position moves beyond the cam start or cam end position, the Output Cam is disarmed
and the Process Complete bit of the Motion Instruction is set.
Persistent When the cam position moves beyond the cam start or cam end position, the Output Cam is
disarmed. However, when the cam position moves back into the Output Cam range the Output Cam
is rearmed.
Continuous When the cam position moves beyond the cam start or cam end position, the Output Cam continues
on the opposite side of the Output Cam range.
Execution Schedule
Depending on the selected execution schedule, the Output Cam is armed
according to the following table.
Mode Behavior
Immediate The Output Cam is armed immediately.
Pending The Output Cam is armed, when the cam position of an armed Output Cam moves beyond its
cam start or cam end position.
Forward Only The Output Cam is armed, when the axis approaches or passes through the specified axis arm
position in the forward direction.
Reverse Only The Output Cam is armed, when the axis approaches or passes through the specified axis arm
position in the reverse direction.
Bidirectional The Output Cam is armed, when the axis approaches or passes through the specified axis arm
position in the forward or reverse direction.
Axis Arm and Cam Arm Positions
The axis arm position defines the axis position where the Output Cam is armed, if
the execution schedule is set to either forward only, reverse only, or bi-directional
and the axis moves in the specified direction. The cam arm position defines the
cam position that is associated with the axis arm position, when the Output Cam
is armed. Changes to the axis arm or cam arm position only take effect after the
execution of an MAOC instruction.
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