Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 126)

Publication 1746-6.1.2 - July 2000
Programming the SLC Processor to Run the SLC Servo Module 8-9
As each block command is executed, the SLC Servo Module informs
the SLC processor in a closed-loop fashion, using the SLC Servo
Module to SLC processor discrete status bits.
The discrete commands are classified into Incremental Position
commands and simple move commands that are discussed in this
section and into Position Initialization commands and On-line
Configuration commands that are discussed in the next chapter.
Recovering from Estop
If the Estop string is opened during a move, the move aborts. You can
initiate another move once the Estop Reset is issued and the module is
out of Estop. This can be done by setting/changing either the
command bit, %Acceleration, Speed, Endpoint, or profile number. If
these bits were set while in Estop, they must transition after the Estop
resets to start a new move.
Incremental Position Command
1 s = Slot number for the SLC Servo Module.
2 Maximum value allowed is the incremental position in position units equal to ±32767 encoder edges.
These words contain the Incremental Position command (commanded
on the slave axis for the next coarse iteration) if the system is out of
Estop and not executing the monitor move.
This command is active only if the Enable Incremental Position
command bit is set in the configuration area. The SLC Servo Module
converts the value passed in these words to the internal
representation and adds to the command position of the servo
feedback loop. This allows you to incorporate a special interpolation,
camming or gearing algorithm using the PLC ladder logic.
IMPORTANT
If command parameter preparation requires more
than one program scan, set up the accompanying
parameters before setting the command bit.
Name
Location
1 Format Possible
Values
2
Default
Incremental Position
command O:s.2-3 STDFLOAT 0