396 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 12 Motion Control Applications
These are the disengagement conditions.
• Immediate stop after disengagement
• Deceleration stop after disengagement
• Entering loop mode after disengagement (ID376 (P5.088.U) = 2, 4, 6)
Figure 208 - Disengagement Dialog Box
You can set the PR command after the disengagement condition is immediate
stop after disengagement, deceleration stop after disengagement, or entering
PR control mode after disengagement (ID376 (P5.088.U) = 2, 4, 6). When there
is a non-zero value in instance ID376 (P5.088.BA), that PR command is
executed. (ID376 (P5.088.U) = 4), the slave axis continues in the next motion
cycle after PR command complete. That is because the E-CAM function doesn't
support interrupt.
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