Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 627
Chapter 10
Overview of motion-related data types
Follow this chapter to gain information about motion-related data types.
The CAM data type consists of slave and master point pairs, as well as an
interpolation type. Since there is no association with a specific axis position or
time, the point values are unitless. The interpolation type can be specified for each
segment as either linear or cubic. The format of the cam array element is shown
below:
Mnemonic Data Type Description
MASTER REAL The x value of the point.
SLAVE REAL The y value of the point.
Segment Type DINT The type of interpolation
0 = linear
1 = cubic
The CAM_PROFILE data type is an array of coefficients representing a calculated
cam profile that can be used as input to a time cam or position cam instruction.
The only element available to you is Status, which is defined below:
Mnemonic Data Type Description
Status DINT The status parameter is used to indicate that the Cam Profile array element has been calculated. If you attempt
the execution of a camming instruction using an uncalculated element in a cam profile, the instruction produces
an error.
0 = cam profile element has not been calculated
1 = cam profile element is being calculated
2 = cam profile element has been calculated
n = cam profile element has been calculated and is currently being used by (n-2) MAPC and MATC instructions.
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