Rockwell Automation Allen-Bradley ArmorBlock 1732E-IB8M8SOER User Manual page 75

slots. Cam on/off events will be assigned to time slots based on their position
within the coarse update period. If both latch and unlatch events for a cam
element are assigned to the same time slot, they will cancel each other out. This
implies that the minimum pulse width of a cam element is greater than one
time slot.
The minimum pulse width of a cam element should be greater than the 100 μs
1732E-OB8M8SR minimum pulse width, or the 1/16 coarse update minimum
pulse width, whichever is larger.
The 1732E-OB8M8SR Scheduled Output Module can be associated with one
IMPORTANT
(1) MAOC axis/execution target only.
The MAOC instruction detects latch and unlatch events one coarse update
ahead and schedules the event to occur within the next coarse update. This is
accomplished by applying a one coarse update internal delay to each scheduled
output latch and unlatch position. When the latch or unlatch event is detected,
the delta time from the start of the coarse update to the event is calculated, and
the output is scheduled to occur at the CIP Sync corresponding to the next
coarse update period. To facilitate this, Output Cam functionality has access to
the CIP Sync captured when the current coarse update period occurred.
The MAOC instruction is able to process scheduled output bits for the
1732E-OB8M8SR. The MAOC instruction sets the schedule mask bits that are
defined for use by the application.
IMPORTANT The outputs 0...7 can be forced by forcing the Data Bit to 0 or 1 and its
corresponding bit in the ScheduleMask to 0.
Due to the limit of 16 schedules supported by the 1732E-OB8M8SR module,
some constraints are applied to the number of events that can be processed
every coarse update period.
Only eight schedules are available each coarse update. This allows for two
consecutive coarse updates in which each update contains eight output events.
Figure 20 illustrates the relationship between the coarse update period, a cam
latch event and the time slots.
Figure 20 - Inter-relationship of Coarse Update Period, Cam Latch, and Time Slots
Interval = 5000 uSec
Coarse updates are divided into 16 time slots. For 10 ms updates, each time slot is 625 µs.
Rockwell Automation Publication 1732E-UM003D-EN-E - November 2021
Chapter 10 Use the Sequence of Events Input and Scheduled Output Modules
Coarse Update Period (10 ms)
Latch position
Time Slot assignment for each slot
event
Cam element
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