Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016 121
Configure Camming Chapter 8
From this point on, only the incremental change in the master axis position
determines the corresponding slave axis position from the defined cam profile.
This condition is important for applications where the master axis is a rotary
axis because the position cam is then unaffected by the position unwind
process.
When the master axis moves out of the range that the cam profile defines, if
Execution Mode is Once, the following occur:
• It clears the Position Cam Lock Status
• It clears the Position Cam Status bits of the Motion Status word
This Motion Status bit condition indicates that the cam process has
completed. This fact is also reflected in the bit leg behavior of the associated
MAPC instruction, PC bit set, and IP bit clear.
The master axis can change direction and the slave axis reverses accordingly.
This process occurs after position cam motion is started when the master axis
passes the specified Master Lock Position in either the Forward Only or
Reverse Only direction.
If an MAPC instruction is executed on a slave axis that is actively position
camming, an Illegal Dynamic Change error is generated (error code 23).
However, this error does not occur if the Execution Schedule is Pending.
MATC Instruction
An MATC instruction uses one of two Execution Schedule parameters:
•Immediate
•Pending
Immediate
By default, the MATC instruction is scheduled to execute immediately because
the default setting of Execution Schedule is Immediate. In this case, there is no
delay to the enabling of the time camming process.
When the MATC instruction is executed, the camming process is initiated on
the specified axis. The Time Cam Status bit in the Motion Status word for the
axis is also set. This process is shown in Figure 60
. If the Execution Schedule
parameter is set to Immediate, the axis is immediately locked to the time master
coordinate according to the specified Cam Profile.
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