Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 83)

PROGRAMMING 4-55
lowest register (132) in sequence. As a general rule, the
table should be accessed forward unless it is necessary to
exactly reverse a motion. In this case, the reverse direction
would be specified along with a negative motion direction.
If the run mode bit is set to 0, the cam profile is executed
once according to the settings of the other cam mode bits.
The loopback register (131) is not used. If "run mode" is set
to 1, the time cam profile will be executed continuously
according to the settings of the other cam mode bits. At the
end of a time cam cycle, the module will return to the point
defined in the loopback register (131). The position cam
does not use register 131. See 4.50 for more information.
If the mirror image bit is set, the module will start with the
data in register 132 and automatically reverse direction when
the last point in the table is reached and continue back to the
beginning. If "continuous mode" was selected (bit 5), the
mirror will be between the last point in the table and the
loopback point. If the cam is only executed once, the mirror
will be from the last point in the table to register 132. This
feature allows symmetrical profiles (like sine and cosine) to
be defined with only half of the data points.
The motion direction bit determines the direction that the axis
will move when the cam profile is executed. If the direction is
positive, the axis will move in the same direction as the sign
of the cam profile points. If the direction is negative, the axis
will move in the opposite direction as the sign of the cam
profile points.
The rotary position cam end point bit is used to select the
cam table beginning/ending points if the rotary mode is
selected. The default (0) means the beginning and ending
points must be equal. Setting the bit to 1 means the end
points may or may not be equal. See 4.50 for more
information.
The cam type bit is used to select either the position or time
cam. If position cam is selected (bit 8=1) then only bits 3 and
7 of the remaining bits in the register apply.