Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 77)

Run Menu • Run Control 55
Publication 1398-PM601A-EN-P — October 2000
MENUS
Pause
The Pause interrupts motion temporarily. If Pause is activated, the controller decelerates the system to a
stop, and maintains position. If Pause is then deactivated, motion is resumed. The time that the system
decelerates to zero and accelerates back to full speed is called the system slew time. The system slew
time, in seconds is the default velocity, in units/second divided by the default acceleration in units/sec-
ond². When motion resumes, the position target is the same as before the interruption. The Pause param-
eter allows the Pause input to be enabled and the active state defined as open or closed. There are two
ways to pause motion: choose the Pause button in the Run Control dialog box or use the Pause input
(I9).
To Pause motion from the Run menu:
• Select Run Control from the Run menu.
• Choose the Pause button.
• Choose the Pause button again to resume motion.
Note: Pause will NOT stop motion if a program is following a master encoder using a gear ratio.
Single Step
To single step through a program, select the Single Step Mode check box, then select the Run Program
button to start the program (if the program is already running, just select the Single Step button). The
program can be stepped through one instruction at a time by continuing to choose the Single Step but-
ton. The program will stop after executing each instruction. The next instruction to be executed is
shown in the Status dialog box.
To run a program normally after single stepping, clear the Single Step Mode check box.
Note: The program must have been compiled with Generate Debug Information selected (under Com-
pile Options) to allow single stepping.
Move
It is not necessary to run a program to make a move. As long as the ULTRA Plus or IQ is enabled and
no program is running, a move can be made at any time. The only exception to this is, if the Move but-
ton was used to start a MOVV move, another MOVV command can be issued (for example, to change
the velocity of the move).
To make a move (not in a program)
• Select Run Control from the Run menu or press F8.
• Check the type of move you want–MOVD (move a distance), MOVP (move to a position), or
MOVV (move at a velocity).
• For MOVD and MOVP moves, the acceleration used is the Acceleration parameter. For MOVV
moves, velocity changes are made using the Jog Acceleration and Jog Deceleration.
• Enter the distance and/or velocity. You must enter the distance for a MOVD or MOVP move, how-
ever, specifying the velocity is optional for either type move. If no velocity is entered, the move
will be made at the default velocity (specified under Velocity/Accel in the Parameter menu). If you
select a MOVV move, you must enter the velocity.
• Choose the Start Move button to start the move.
• Once the move is started, choose the Stop button to stop the move or choose the Pause button to
pause the move. Once a move has been paused, choose the Pause button again to resume the move.
• Choose the OK button to close the Run Control dialog box and to remember all the settings (pro-
gram number, move type, etc.) the next time the box is shown.
-or-
Choose the Cancel button to close the box and restore the previous settings.