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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 12
Motion Control Applications
Figure 171 - Lead pulses before engaged and Skipped master position pulses before re-engage
You can only choose one from these three disengagement conditions.
• immediate stop after disengagement
• deceleration stop after disengagement
• entering loop mode after disengagement (ID376 (P5.088.U) = 2, 6, 4)
If you select these conditions:
Disengagement controlled by DI, immediate stop after disengagement, or
deceleration stop after disengagement (ID376 (P5.088.U) = 1, 2, 6), the function
of disabling the E-Cam function after clutch disengagement is available. That
means ID376 (P5.088.X) =0, however, this value can't be set independently. It
must be used with on of the above three conditions. Both the clutch
disengagement and disabled E-Cam function results in the slave axis no longer
operating. But the E-Cam system is in different states (stop, engaged, pre-
engaged). The E-Cam function is completely shut down when the E-Cam
function is disabled. When the clutch is disengaged, the slave axis is stopped, but
the E-Cam system is still operating. And the slave axis is still monitoring the pulse
input signal from master axis.
You can set the PR command after the condition of immediate stop after
disengagement, or deceleration stop after disengagement, or entering loop mode
after disengagement (ID376 (P5.088.U) = 2, 6, 4). The followed PR command
number is stored in instance ID376 (P5.088.BA). If the value is 0, then there will
be no PR command after. If there is PR command designated in the condition of
entering loop mode after disengagement (ID376 (P5.088.U) = 4), the slave axis
will continue in the next motion cycle after PR command complete. That is
because the E-Cam function doesn't support interrupt.
E-Cam System State
The electronic cam system has three states: stop, engaged, and pre-engaged.
When the E-Cam function is enabled, the current state of the system can be
observed in real time by parameter instance ID376 (P5.088.D). The following
describes each state in detail. The schematic diagram is shown in
.
Summary of Contents for Kinetix 5100 2198-E1004-ERS
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