Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 128)

Publication 1746-6.1.2 - July 2000
Programming the SLC Processor to Run the SLC Servo Module 8-11
Simple Move Commands
All simple moves are mutually exclusive. The simple move commands
are the Absolute/Incremental, Speed, Monitor, and Run Blend Move
Profile commands.
The currently executing move is considered complete when a new
move is commanded by the SLC processor. A new move occurs when
a change happens to any one of the following:
•
Command bit
•
% Acceleration parameter
•
Velocity Unit Per Timebase (speed) parameter
•
Position (endpoint) parameter
•
Blend Profile number
For example, if an Absolute Move command is executing and the
module receives a Speed Move command, the Absolute Move
command is considered finished and the currently executing move
command is blended into the new Speed Move command. This means
that the execution and blending of moves is totally under SLC Ladder
Logic Control.
The units for simple moves are:
•
The position for each move block is in programming units (for
example, inches, millimeters).
•
The speed for each move block is in programming units (for
example, inches per minute, millimeters per second).
•
The acceleration or deceleration specified is in the percentage
(0.0-1.0) of the maximum acceleration specified.
Using Simple Move
Commands The simple move commands discussed in this section are:
•
Absolute/Incremental command
•
Speed command
•
Monitor command
•
Run Blend Move Profile command
Using the Absolute/Incremental Move Command
The absolute move command generates a move equal to the
difference between the specified target position and the current