text: <s>[INST] MAPC- Cam Type Can you give information about the use of 'Replace and restart' and 'Replace and continue' in the Cam Type section of the MAPC block? [/INST] Hello Omer these functions are new in Logix MAPC instruction. Replace and Restart & Replace and Continue can immediately interrupt an active cam and replace it with a new cam regardless of the current master position. Additionally, CAM replacement can be scheduled at certain position. When the axis reaches the Lock Position, the running CAM will be replaced. If you want to use your PCAM like it was before logix V34, just select NewCam option. If you need to replace without waiting for the end the actual running cam with a new one that you are going to start them you have 2 option : Replace & Restart: Starts the Replacement Cam profile immediately or at the programmed Master Lock Position. Master position in the cam table is set to Cam Lock Position. As soon as the axis cross the lock position the 1st cam stops and the replacement cam takes over and starts producing motion – so the resulting slave axis motion begins to deviate from what the original cam would produce. Since we selected restart here we're restarting from the cam lock position of the replacement cam profile Replace & Continue: At the replacement point, the Replacement Cam starts to interpolate the Slave axis. Master position in the cam table is unchanged. User needs to ensure velocity/acceleration/jerk disturbances are minimized. In this case if you have two different cam profiles with different trajectories, at the replacement point there will be a hard switch and immediately begin interpolating from the 2nd cam profile.This also means if there's a delta between the positions, you will get a position jump – probably some pretty jerky motion – and since this is a continue , it's not restarting from the beginning point of the new cam, but rather wherever in the cam that the previous cam left off. This leaves the responsibility to the user to minimize any sort of disturbance to their system from motion with proper cam designs you can find all the details in this manual https://literature.rockwellautomation.com/idc/groups/literature/documents/rm/motion-rm002_-en-p.pdf Page 166 chapter 3 Regards \\n </s>