Allen-Bradley 1756-M02AS User Manual page 120

Chapter 8 Configure Camming
120
IMPORTANT The cam profile generator monitors the master axis based on the absolute
position reference system in effect before the redefine position operation.
This process only occurs if the position reference of the master axis is
redefined with a Motion Redefine Position (MRP) instruction after the MAPC
instruction executes but before the lock condition is satisfied.
Figure 59 - Forward Only, Reverse Only, or Bidirectional Execution
Master
Slave Axis
Start
Position
Position
Position Cam Status
Position Cam
Initiated
The Position Cam Status bit of the Motion Status word for specified slave axis
is set. This process occurs when the absolute position of the master axis passes
the specified Master Lock Position in the specified direction. Slave axis motion
is then initiated according to the specified cam profile starting at the specified
Cam Lock Position of the cam profile.
Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016
Cam Profile
Position Cam Lock Status
Master Axis
Position