Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 129)

Publication 1746-6.1.2 - July 2000
8-12 Programming the SLC Processor to Run the SLC Servo Module
position, causing a positive or negative move, depending on the
current axis position. Absolute and incremental move parameters for
word 4, bit 0/1 appear in the table below.
1 s = Slot number for the SLC Servo Module.
The SLC Servo Module responds differently depending on which
command has not completed (if any) when the Incremental Move is
initiated, as shown in the table below.
If the SLC Servo Module is configured with the rollover position, the
move commanded can cause multiple rollovers.
The following information applies to the Absolute/Incremental move:
•
The speed specified for the move is the absolute maximum for
the move.
•
If the speed specified is greater than the Maximum Axis Speed,
the speed for the move is limited to the Maximum Axis Speed
•
The axis has to be homed to perform an absolute move
•
If an error occurs while executing the move, the SLC processor
is notified.
Block Command
Parameters Location1 Format Possible Values Default
Absolute Move OR
Incremental Move O:s.4 BITS X000 0000 0000 0001 (absolute)
X000 0000 0000 0010 (incremental) 0
0
More Bit Specifications O:s.5 BITS 0000 0000 0000 0000 0
% Acceleration Ramp O:s.6-O:s.7 FLOAT 0.0 to 1.0 1.0
Speed O:s.8-O:s.9 FLOAT 0.0 to +physical limit 0.0
Position/Decrement O:s.10-O:s.11 FLOAT –axis travel limit to +axis travel limit 0.0
If you initiate this
command: And initiate an incremental move before the
first command is finished, the Servo
Module:
Absolute Move Adds the absolute and incremental moves
together and stops when the moves are
complete.
Incremental Move Adds the incremental moves together and stops
when the moves are complete.
Speed Move Blends the speed move to the incremental move
and stops when the incremental move is
complete.
None (no command) Moves the distance of the incremental move and
stops when the move is complete.