Allen-Bradley 1756-HYD02 User Manual page 228

Chapter 5 Configure Camming
228
The following diagram shows the effect of specifying a Cam Lock Position value
other than the starting point of the cam table. In this case, the value represents a
position within the cam profile itself. Be careful not to define a Cam Start Point
that results in a velocity or acceleration discontinuity to the slave axis if the master
axis is moving.
Pending
The execution of an MAPC instruction can be deferred pending completion of a
currently executing position cam. You can use Execution Schedule selection of
Pending to blend two position cam profiles together without stopping motion.
This Execution Schedule selection of Pending is fully described in Pending Cams
topic.
Forward Only, Reverse Only, or Bidirectional Execution Schedules
The slave axis is not locked to the master until the master axis satisfies the
condition that is specified when the Execution Schedule parameter is set to any of
the following parameters:
•
Forward only
•
Reverse only
•
Bidirectional
With any of these selections, the camming process monitors the master axis to
determine when the master axis passes the specified Master Lock Position in the
specified direction. In a rotary axis configuration, this lock criterion is still valid,
independent of the turns count.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018