ABB DO820 3BSE008514R1 Distributed control module

An Output CAM element is configured with a Latch type of Position and Enable, and Unlatch type of Position and Enable. While the CAM element is active (the output is ON) the application sets the Unlatch Position to the value of the Latch Position. The output remains ON even if the Enable Input is dropped.

When there is a rotary axis configured for the Coordinate System, the rotary axis makes one complete revolution even if the current command position is equal to the position in the Motion Coordinated Linear Move (MCLM) instruction.When the manual jog input is cycled ON and OFF at a rapid rate, the SlaveAxis.PositionCamLockStatus gets reset and the SlaveAxis.PositionCamStatus remains set.

This occurs with Stop Move 

 Stop Jog in combination with S-curve velocity profiles. While an MAM or MAJ is accelerating, an MAS is initiated to stop it. Even though the deceleration rate is higher than the ones specified in the MAM or MAJ, the axis begins to slow at a lower rate before decelerating at the higher rate programmed in the MAS.This anomaly may occur if an MCSV executing in an application task is interrupted by the motion task, which has a MAPC instruction currently in process.

On a uni-directional home,

the .IP bit is cleared, the AxisHomedStatus attribute is set, but the .PC bit is not set. If the home direction is uni-directional and the home offset is less than the distance to decelerated, then the axis is simply decelerated to a stop. The axis does not reverse direction to move to the home position. In this case, the .PC bit of the MAH instruction is not set. The .PC bit is set when the axis stops at the configured home position.

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