Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 119)

Publication 1746-6.1.2 - July 2000
8-2 Programming the SLC Processor to Run the SLC Servo Module
You can download to the module using two copy file instructions to
the M0 file of the SLC Servo Module:
•
First copy instruction copies discrete information
•
Second copy instruction copies floating-point information
Depending on the values specified in the configuration, the module
can accept the data or generate configuration errors through the
module input status words described in the Understanding
Configuration Errors section of this chapter. A typical ladder program for
downloading the blend move profile is shown in Figure 8.1.
Figure 8.1 Download Blend Profile
In this ladder, the floating-point file F51:0 and integer file N50:0
contain the configuration for the SLC Servo Module in slot 1. These
are copied once to the M0 file for slot 1 when requested.
Understanding Configuration Errors
The CONFIG INV LED on the SLC Servo Module lights up when you
power up or after you power up to indicate an invalid configuration.
If a configuration file is not present or is invalid for any reason, the
configuration error input bit (14) in configuration mode input status
word 1 is set (I:s.1/14). Input status word 4 of the module reports the
errors detected (I:s.4). Refer to the Troubleshooting chapter for a list of
configuration errors.
The configuration parameters for word 0, bit 14 are described in the
tables below.
COPY FILE
Source
Dest
Length
COPY FILE
Source
Dest
Length
OSR
Download
Configuration Enable
Once
#F51:0
30
#N50:0
2
I:2
61
#M0:1.2
#M0:1.0
Note: SLC Servo Module is located in Slot 1