Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 118)

1 Publication 1746-6.1.2 - July 2000
Chapter
8
Programming the SLC Processor to Run the
SLC Servo Module
Overview This chapter provides configuration information for the SLC processor
and the SLC Servo Module. It also contains instructions for
programming the module for the command mode of operation. The
following topics are explained:
•
Blend move profiles
•
Command and status information
•
Module communication interface
•
Discrete bit commands from the SLC processor
•
Discrete block commands from the SLC processor
•
Recovering from Estop
•
Incremental position command
•
Simple move commands
•
Using simple move commands
•
Absolute/Incremental move
•
Speed move
•
Monitor move
•
Run blend move profile
•
Blending moves
•
Plan synchronized move
Blend Move Profiles Before you download blend move profiles, the module must be in
Estop state (I:s.1/1). The module downloads blend move profiles
when the ladder instruction sends the data to the M0 file with the
output word 0 mode bit (15) and bit (14) set to 1.
Downloading Your Blend Move Profiles
You can download this configuration using the M0 file for the module
that you want. There are two types of configuration data:
•
Discrete parameters
•
Floating-point parameters