Rockwell Automation 2098-IPD-020-DN Ultra5000 Series Intelligent Positioning Drives with DeviceNet Reference Manual - Manual (Page 52)

Publication 2098-RM002A-EN-P – October 2001
4-28 Programming Reference
71 Get Cam Current
Accel
REAL 4
cnts/ sec
2 The actual acceleration command generated by
the cam. This value will be equal to the
instantaneous cam table acceleration, which is
the rate of change of the cam times the Cam
Input Velocity.
72 Get Cam Index DINT 1 The segment of the cam table used to calculate
the cam output. This is determined by the Cam
Input Position. The index is zero based.
73 Get Cam Offset DINT 4 cnts The value, in counts, necessary to adjust the cam
between its final output position and the output
position for the beginning of the next cam cycle.
A cam wraps around to start again at its
beginning, if there is a difference between the
final and beginning output position of the cam
table, the offset is adjusted by the difference, so
the Cam Current Position is always the actual
output position described by the cam table
74 Get Camtable State USINT 1 The current cam memory load status:
0 = Unloaded - a cam file is not loaded into
memory.
1 = Loaded - a cam file has been loaded into
memory.
Note: The Camtable Filename attribute can be
changed by a user program (or DeviceNet) after a
cam file is loaded, so the filename displayed
doesn’t have to be the name of the file that is
loaded.
75 Get Camtable Mode USINT 1 The current mode of the cam:
0 = Unlocked - the cam table is inactive, and a
cam file may be loaded into memory.
1 = Locked - the cam is active, and a different cam
file cannot be loaded. The Cam Table is “Locked”
whenever the Cam is enabled.
76 Get Camtable Count DINT 4 The number of segments in the loaded cam table.
A cam table is divided into segments that start at
each point defined in the cam file (except the
final point displayed in the Ultraware Cam table
interface, which is only used to define the end of
the previous segment, not the start of a segment.)
Parameter Object,
Instances ID 1- 340
Parameter
Instance
Access
Rule
Parameter
Name
Data
Type
Data
Size
(Bytes)
Units /
Scale
Description