Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 111)

Publication 1746-6.1.2 - July 2000
7-32 Setting Up Your SLC Servo Module
1 A small number of Fits per CIT cause a fast servo loop closure time that yields better motion performance on the
transitions, but slower communication with the SLC processor. As the number of Fits per CIT increases, motion
performance on the transitions degrades, but communication with the SLC processor is slightly enhanced. For
blended moves, Fits per CIT must be greater than 4.
Homing Options Homing Without a Limit Switch or Marker
Use the Set Home block command found in SLC processor to SLC
Servo Module word 5 to home the axis. Refer to the Set Home
command in the Programming System Variables chapter for more
information. When you select this home type, the Final Move to Which
Marker? and Final Move to Marker? configuration parameters are ignored.
Homing to a Marker
Homing to a Marker specifies how an axis will find its initial (home)
location. Two parameters specify which marker to move to and
Inhibit Major Fault
Code M0:s.1/10 This bit, when set, inhibits (i.e., forces major
fault code sent to SLC to 0) the reporting of all
major fault codes in the SLC Servo Module to
SLC processor Discrete Control Status. When
clear, all major faults detected by the SLC Servo
Module are reported to the SLC processor. You
must clear them using either the Clear Fault or
Clear All Faults bit.
Inhibit Actual
Position M0:s.1/12 This bit, when set, inhibits (i.e., forces actual
position sent to SLC to 0) the reporting of the
Actual Position in the SLC Servo Module to SLC
processor Discrete Control Status. When clear,
the actual position of the SLC Servo Module is
sent to the SLC processor.
Inhibit Following
Error M0:s.1/13 This bit, when set, inhibits (i.e., forces
following error sent to SLC to 0) the reporting of
the Following Error in the SLC Servo Module to
SLC processor Discrete Control Status. When
clear, the following error of the SLC Servo
Module is sent to the SLC processor.
Inhibit Current Speed M0:s.1/14 This bit, when set, inhibits (i.e., forces current
speed sent to SLC to 0) the reporting of the
Current Speed in the SLC Servo Module to SLC
processor Discrete Control Status. When clear,
the current speed of the SLC Servo Module is
sent to the SLC processor.
Fits per CIT
1 M0:s.2 These bits specify the number of fine iterations
(Fits) that accumulatively produce one coarse
iteration (CIT).
Name Location Description