Motion Event Instructions
286 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Each Time Slot stores the information described in the following table.
Topic Description
Latch Event Mask When a latch event is detected, the time slot in which it belongs is calculated and the bit
in the Latch Event Mask corresponding to the output bit of the latch is set.
Unlatch Event Mask When an unlatch event is detected, the time slot in which it belongs is calculated and the
bit in the Unlatch Event Mask corresponding to the output bit of the unlatch is set.
Interval The time in micro-seconds from the start of the coarse update in which the Latch or
Unlatch event occurs.
Pulse On Mask For pulsed outputs, the time slot in which a pulse on event is calculated and the bit in the
Pulse On Mask corresponding to the output bit of the pulse event is set.
Pulse Off Mask For pulsed outputs, the time slot in which a pulse off event is calculated and the bit in the
Pulse Off Mask corresponding to the output bit of the pulse event is set.
Output On Mask For normal outputs, the bit corresponding to the output bit of the Latch or Pulse On event
is set indicating that the output is to be turned on for these events.
For inverted outputs, the bit corresponding to the output bit of the Unlatch or Pulse Off
event is set indicating that the output is to be turned on for these events.
Output Off Mask For normal outputs, the bit corresponding to the output bit of the Unlatch or Pulse Off
event is set indicating that the output is to be turned off for these events.
For inverted outputs, the bit corresponding to the output bit of the Latch or Pulse On
event is set indicating that the output is to be turned off for these events.
The following is a simplified overview of how Time Slot data is utilized.
Time slots are also used to process overlapping cam elements. A semaphore is
maintained to indicate the currently active state of each output bit. In addition, if
a programmed cam element Latch and Unlatch event occurs in the same time slot,
they cancel each other out.
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