Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 123)

Publication 1746-6.1.2 - July 2000
8-6 Programming the SLC Processor to Run the SLC Servo Module
Word 0 Discrete Bit Commands
1
s = Slot number for the SLC Servo Module.
Bit Specifications
Location
1 Description
Estop Request O:s.0/0 The Estop request (word 0, bit 0) causes the SLC Servo Module to enter
Estop and cancels all executing moves when the request occurs.
If an old move needs to be executed again, the SLC Ladder resubmits the
move after recovering from the Estop condition.
The move complete bit is set when the SLC Servo Module enters Estop.
The Restore Position functionality is not available.
Retract Position O:s.0/1 Retract position (word 0, bit 1) cancels axis motion, if any, then
immediately causes the axis to move to the Retract Position position.
Hold/Unhold Move O:s.0/2 The Hold/Unhold move (word 0, bit 2), when set, causes the axis to
decelerate to a stop.
•
If no error occurs during a hold move operation, the held move is
resumed by clearing the bit.
•
If the axis enters the in-position band after a hold is initiated, the
in-position bit is set.
•
If the axis reaches the point where the final interpolated command
is output, the move complete bit is set.
The Hold/Unhold Move bit has no effect on the Incremental Position
command component of a move.
For example, an absolute move is in progress when the Hold Move bit is
set. The axis decelerates to a stop. If a new move command is received
while in the held state, the old absolute move is discarded and the new
move is held. When the bit is cleared, the new move begins.
Cancel Move O:s.0/3 Cancel move (word 0, bit 3) cancels a mutually exclusive motion (i.e.,
absolute/incremental move, speed move, monitor move and blend profile
move) in progress. The move complete bit is set when the axis has
decelerated to zero velocity.
Reserved O:s.0/4
Execute Synchronized Move O:s.0/5 Execute synchronized move (word 0, bit 5) initiates synchronized moves
already commanded to the SLC Servo Module. An appropriate error is sent
to the SLC if no synchronized move is commanded.
Initialize Retract Position O:s.0/6 Initialize retract position (word 0, bit 6) causes the SLC Servo Module to
define the current position as the Retract Position location. No motion
occurs. The axis must have been homed. No motion can be in progress.