Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 130)

Publication 1746-6.1.2 - July 2000
Programming the SLC Processor to Run the SLC Servo Module 8-13
The Absolute/Incremental move ends if any one of the following
occurs:
•
The move reaches its destination.
•
The SLC processor cancels the move. The Cancel Move bit is
used to cancel the absolute or incremental component of the
move. Setting the Cancel Move bit does not affect an
incremental position command component (i.e., the specified
incremental position command continues unless it is set to
zero).
•
An Estop occurs.
•
The SLC processor sends another move from the mutually
exclusive move set including a move of the same type with
different % Acceleration Ramp, Speed, or Position/Increment. A
new absolute move can also be initiated by simply changing the
acceleration, speed or position and keeping all other discrete
bits the same.
Planning an Absolute/Incremental Move
Figure 8.4 shows a typical ladder program block diagram that initiates
an absolute/incremental move from the SLC processor. Other moves
are initiated similarly by setting appropriate values in the data tables
and copying the data to the appropriate module output words.
Figure 8.4 Absolute/Incremental Move Command Block Diagram
For example, an absolute move is initiated if the float data table is:
And the integer data table is:
Word 0 (Accel/Decel) 1 (Velocity) 2 (Position) 3 4 5
F43:0 1 500 20
Word 0 1 2 3 4 4
N31:0 1 0 0 0 0 0