Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 395
Chapter 12 Motion Control Applications
• Resuming PR Mode control after disengagement (ID376 (P5.088.U) = 4)
— slave axis returns to the PR Mode operation after the master pulses
have reached the value of ECamMasterPositionToDisengage ID377
(P5.089).
The E-CAM system enters the pre-engage state, as shown in Figure 206
.
Once the ECamSkippedMasterPulses ID380 (P5.092) value occurs, the
clutch engages and the next cam cycle begins.
Figure 206 - Loop Mode After Disengagement
Pay attention to the difference between the lead pulses before engaged ID375
(P5.087) and the skipped master position pulses before re-engage ID380
(P5.092). ID375 (P5.087) takes effect before the first engagement, and, ID380
(P5.092) takes effect for each E-CAM cycle. Figure 207
shows the schematic
diagram of the combination of these two.
Figure 207 - Lead pulses before engaged and Skipped master position pulses before re-engage
ID377 (P5.089) ID377 (P5.089)
ID380 (P5.092)
ID377 (P5.089)ID377 (P5.089)
ID380
(P5.092)
ID375
(P5.087)
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