386 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 12 Motion Control Applications
E-CAM Control Settings
The format of ID376 (5.088) ECamControl is: (High word h) DCBA:
(Low word L) UZYX
Figure 194 - Parameter Format
Definition as follows:
• X: E-CAM command
• Y: command source
1: auxiliary encoder
2: pulse command
4: time axis (1 ms)
• Z: engaging condition
0: immediately
1: trigger DI.CAM
• U: disengaging condition (2, 4, and 6 cannot be selected at the same time)
• BA: auto execute the specified PR command
When disengaging condition (ID376 (P5.088.U: 2, 4, 6)) is met, a PR
00…3F (hexadecimal; 00 means no action) is executed automatically.
BA PR command to execute X
Activation setting of E-CAM
function
C Reserved Y Command source
D Reserved Z Engaging condition
- - U Disengaging condition
Bit Function Description
0 E-CAM activation 0: E-CAM is disabled 1: E-CAM is enabled (relevant parameters cannot be modified once E-CAM is enabled)
1 E-CAM does not disengage when servo is off
0: when the servo is stopped by alarm or servo is off, the clutch disengages 1: when the servo stops because of
alarm or servo is off, the clutch remains engaged. When the servo enables again, E-CAM can operate directly.
2
ECamCurveScale ID311 (P5.019) is effective
immediately
0: ID311 (P5.019) is effective after next engagement 1: ID311 (P5.019) is effective immediately
3Reserved -
U Disengagement condition Action after disengaged
0 Never disengage -
1 DI.CAM permissive is OFF In stop status
2 Master axis reaches the disengage value of ID377 (P5.089) (Sign indicates the direction)
In stop status
6
Same as 2, but the existing speed continues when disengaging and the engaged length slightly exceeds ID377 (P5.089)
ECamMasterPositionToDisengage. This is suitable for when calling the next PR Position command immediately after
disengaging.
4 Master axis exceeds the value of disengaging ID377 (P5.089) (sign indicates the direction)
Return to pre-engaged status Lead pulse
is ID380 (P5.092)
ECamSkippedMasterPulses
8
When U = 1, 2, or 6: disable E-CAM after disengaging Set X to 0
When U = 4: Avoid jittering when it returns to pre-enagaged status N/A