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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 12
Motion Control Applications
Change Position X Where E-Cam is Engaged (code 000Ch)
This macro command can change the engaged position immediately even when
the E-Cam is engaged.
This macro command automatically calculates the remaining engaged length so
that the E-Cam disengages after rotating one cycle (360°) in the forward
direction. However, you must set ID376 (P5.088.U) to 2, 4, or 6; otherwise, the
E-Cam does not disengage.
The E-Cam disengages when an alarm occurs or the power supply is cut off. If
you want the E-Cam to re-engage at the last disengaged position and continue its
remaining cycle, we recommend that you record the last disengaged position (X)
and then resume the operation of this macro command.
The engaged direction is in the forward direction (master axis operates in
forward direction).
Command code 000Ch
Change position X where E-Cam is engaged: E-Cam disengages after rotating one cycle in the
forward direction.
General parameters
N/A
Macro parameters
ID381 (P5.093) = new engaged position X, Unit: pulse number of master axis. Monitoring variable
062(3Eh): displays the current engaged position (X) of master axis.
IMPORTANT
When the E-Cam is disengaged, the servo position might shift slightly, which
can cause a position error when the E-Cam re-engages.
IMPORTANT
When using this macro command, we recommend that you execute the macro
command before operating the master axis.
Code
Description
Failure code F0C1h
When executing this macro command, E-Cam is not in engaged status. Engaged position can only be
modified when E-Cam is engaged.
Failure code F0C2h
Value of ID381 (P5.093) is in error. The value cannot be less than 0.
Failure code F0C3h
Value of ID381 (P5.093) is in error. The value has to be less than the value of (ID372 (P5.084) / ID371
(P5.083)).
When E-Cam rotates one cycle, pulse number of master axis: (P5.084 / P5.083)
Master axis
position (X)
Assign new
position
P5.093
Remaining engaged
length
(auto calculation)
Slave axis
position (Y)
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