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2. Motion Axis Position Cam Instruction
MAPC
Motion Axis Position Cam Instruction
Name – Steven Sitko
Title – Motion Support Engineer
Date – 2/23/2017

3. MAPC Overview: Position Cam
What does an MAPC do?
MAPC allows you to lock a slave axis to a master axis and have it perform a move profile based on the master’s position.
Applications
Flying Shear
Packaging/Bottling
Anything where the slave needs to follow a movement profile relative to the master position

4. MAPC Overview: Control Bits
The Control bits of the MAPC
Enable (EN)
Rung goes true
Done (DN)
If the instruction issues successfully
Error (ER)
If the instruction fails to issue
In Process (IP)
On while the instruction is running.
Process Complete
If the instruction was able to complete without being stopped

5. MAPC Overview: The Instruction Layout
The Parameters of the MAPC
Motion Control Tag must be unique
Contains the control bits
Cam Profile Tag is an array
Array size must be big enough for each point in the cam profile

6. MAPC Overview: Cam Editor
Create the Cam Profile
Positions are incremental Not Absolute
The number of available points will be the same as the size of the Cam Profile Array

7. MAPC Overview: Cam Editor

8. MAPC Overview: Scaling
Master and Slave Scaling
Enables changes to the ratio between the master and slave
Master Scaling will increase/decrease the distance the master covers during the cam
Slave Scaling will increase/decrease the distance the slave covers during the cam

9. MAPC Overview: Scaling
Master and Slave Scaling

10. MAPC Overview: Execution Mode
How is the cam profile used?
Once – Slave will move based on the master as long as it stays within the cam profile and ends upon exiting the cam
Continuous – The cam profile is executed indefinitely until it is stopped
Persistent – The cam profile stays active even after it completes. Return to those positions, and the slave will cam to the master again

11. MAPC Overview: Execution Schedule
When is the Cam Profile Started?
Immediate – The master and slave are locked as soon as the MAPC is executed
Forward only, Reverse only, Bi- directional – The master and slave will lock when the master reaches the master lock position and goes in the selected direction over said position
Pending – The master and slave will lock once the previous cam finishes
What is CIP Sync?
Details are in the slide

12. MAPC Overview: Execution Schedule
When is the Cam Profile Started?
What is CIP Sync?
Details are in the slide

13. MAPC Overview: Master Lock Position
Getting the master into position
If an execution schedule of forward only, reverse only, or bi- directional is selected, then the Master Lock Position will be used
The slave will not lock to the master until the master reaches the master lock position
The IP bit goes high as soon as the instruction is issued which includes Pending, and using Master Lock
What is CIP Sync?
Details are in the slide

14. MAPC Overview: Master Lock Position
What is CIP Sync?
Details are in the slide

15. MAPC Overview: Cam Lock Position
Where does the Cam profile start?
Cam Lock Position controls where in the cam profile the slave will start
Commonly used for cam recovery
Only applies to the first cam iteration for continuous cams
What is CIP Sync?
Details are in the slide

16. MAPC Overview: Cam Lock Position

17. MAPC Overview: Master Reference
Command or Actual Position?
Determines whether the slave axis follows the master’s actual position or command position
What is CIP Sync?
Details are in the slide

18. MAPC Overview: Master Direction
Which direction the slave can move?
The slave will only move when the master moves in the direction selected.
If positions are skewed, the slave will hold position until the master and slave positions sync again.
What is CIP Sync?
Details are in the slide

19. MAPC Overview: Axis Tag Attributes
Monitoring the state of the MAPC
Position Cam Status
Position cam instruction has been issued
Position Cam Lock Status
Slave is currently following the master
Position Cam Pending Status
A position cam is pending another position cam’s completion
What is CIP Sync?
Details are in the slide

20. MCSV Overview: Recovery
Motion Calculate Slave Values
Cam Lock Position controls where in the cam profile the slave will start
Commonly used for cam recovery
Reminder: Cam Lock only applies to the first cam iteration for continuous cams
What is CIP Sync?
Details are in the slide

21. MCCP Overview: Purpose
Motion Calculate Cam Position
MCCP allows a Cam Profile data tag to be updated programmatically
Used when many different Cam profiles are used or need to be created on the fly
What is CIP Sync?
Details are in the slide

22. MCCP Overview: Value change

23. Reference Materials Manual
Motion Instruction Manual: Publication: MOTION-RM002
Knowledgebase
Fault Recovery example: 52986
Cam Execution Modes:
Pending Cam example: 25023
Excel data sheet to Studio: 22698

24. Thank You