Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 124)

Publication 1746-6.1.2 - July 2000
Programming the SLC Processor to Run the SLC Servo Module 8-7
1
s = Slot number for the SLC Servo Module.
Bit Specifications
Location
1 Description
Turn On/Off Fast
Output O:s.0/7 Turn On/Off Fast Output (FOUT) (word 0, bit 7) turns the fast output on (1)
and off (0).
Turn On/Off Module
Requests for Service O:s.0/8 Turn On/Off Module Requests for Service (word 0, bit 8) turns module requests for service
on (1) and off (0).
When set, the SLC Servo Module requests that the SLC processor perform the I/O
Interrupt Subroutine (ISR) corresponding to that SLC Servo Module slot during every SLC
Servo Module coarse iteration.
The primary use of this ISR is to immediately input the SLC Servo Module master
module’s Incremental Position command.
It immediately outputs that command to all SLC Servo Module slave modules as an
Incremental Position command.
This functionality provides local rack low-end gearing supporting multiple masters and
slaves using the same backplane.
The gearing functions are potentially not accurate because the two SLC Servo Modules
run off two different crystal controlled clocks that can drift with respect to each other.
For applications that use the module interrupt option for the SLC Servo Module,
configure the SLC Servo Module in the lowest numbered I/O slot and make sure there
are no other modules in the rack that generate module interrupts.
The STI (Selectable Timed Interrupts) and FAULT routines are executed at a higher
priority than the module interrupt routines that are linked to the SLC Servo Module
interrupt.
Reserved O:s.0/9 through O:s.0/
14
Mode Flag O:s.0/15 Mode Flag (word 0, bit 15) provides the hook necessary to provide a discrete I/O-only
interface.
If this bit is set, all of the discrete input data is ignored because the SLC Servo Module
configuration can only be accomplished using M files.
If this bit is clear, the SLC Servo Module interprets the incoming data as command
information.