Allen-Bradley 1756-HYD02 User Manual page 227

Configure Camming Chapter 5
Master Lock Position parameter is irrelevant. The slave axis is immediately locked
to the master axis, which begins at the Cam Lock Position of the specific cam
profile. When the MAPC instruction is executed, the camming process is initiated
on the specified slave axis. The Position Cam Status bit in the Motion Status word
of the slave axis is also set. If the Execution Schedule is Immediate, the slave axis is
immediately locked to the master according to the specified Cam Profile. The fact
that the Position Cam Lock Status bit for the specified slave axis is also set
indicates this condition.
Changing the Cam Lock Position on an MAPC Immediate Execution
Schedule
The Cam Lock Position parameter of the MAPC instruction determines the
starting location within the cam profile when the slave locks to the master.
Typically, the Cam Lock Position is set to the beginning of the cam profile.
Because the starting point of most cam tables is 0, the Cam Lock Position is
typically set to 0. Alternatively, the Cam Lock Position can be set to any position
within the master range of the cam profile. If a Cam Lock Position is specified that
is out of this range, the MAPC instruction errors.
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Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018