Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 120)

Publication 1746-6.1.2 - July 2000
Programming the SLC Processor to Run the SLC Servo Module 8-3
1
Nn -Source N file number containing the module configuration data.
2 s - Slot number for the SLC Servo Module to be downloaded
.
1
Fn - Source F file number containing the module configuration data
2
s - Slot number for the SLC Servo Module to be downloaded
The table above describes the data to download for blend move
profiles. Explanation of the blend move profile execution is described
later in this chapter with the command that initiates blend move
profile execution.
The Blend Move Profile configuration block provides a mechanism to
download several blend move profiles of various lengths prior to
execution. The PPPP in word 0 represents the bits used to specify which
one of up to 16 blend move profiles (0 to 15) this configuration block
defines. Word 1 contains the number of blend points comprising this blend
move profile (1 to 32).
Since M File transfers occur as an immediate output and increase your
ladder scan time, do not configure multiple blend profiles within one
program scan. When configuring blend profiles, use Blend Move
Profile Configuration In Progress and Servo Configuration In Progress
Bits to lock out additional M File transfers. If you do not, you can
Block Command
Parameters Source N
File
Location
1
Destination M
File Location
2
Format Possible Values Default
Blend Move Profile Nn:0 M0:s.0 BITS 11 XX XXXX XXXX PPPP 0.0
Number of Blend Points Nn:1 M0:s.1 USHORT 1 to 32 0.0
Block Command
Parameters Source F
File
Location
1
Destination M
File Location
2
Format Possible Values Default
% Acceleration Ramp 1 Fn:0 M0:s.2-s.3 FLOAT 0.0 to 1.0 1.0
Speed 1 Fn:1 M0:s.4-s.5 FLOAT 0.0 to +physical limit 0.0
Absolute Position 1 Fn:2 M0:s.6-s.7 FLOAT –axis travel limit to +axis travel
limit 0.0
% Acceleration Ramp 2 Fn:3 M0:s.8-s.9 FLOAT 0.0 to 1.0 1.0
Speed 2 Fn:4 M0:s.10-s.11 FLOAT 0.0 to +physical limit 0.0
Absolute Position 2 Fn:5 M0:s.12-s.13 FLOAT –axis travel limit to +axis travel
limit 0.0
Reserved
% Acceleration Ramp 32 Fn:93 M0:s.188-s.189 FLOAT 0.0 to 1.0 1.0
Speed 32 Fn:94 M0:s.190-s.191 FLOAT 0.0 to +physical limit 0.0
Absolute Position 32 Fn:95 M0:s.192-s.193 FLOAT –axis travel limit to +axis travel
limit 0.0