Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 132)

Publication 1746-6.1.2 - July 2000
Programming the SLC Processor to Run the SLC Servo Module 8-15
Typically, the absolute and incremental moves do the following:
•
Set the Absolute/Incremental Move in Progress bit.
•
Set the Status Acceleration bit.
•
Accelerate to the programmed velocity.
•
Clear the Status Acceleration bit.
•
Continue at the commanded velocity to the deceleration point.
•
Set the Status Deceleration bit.
•
Decelerate to a stop at the target position at the commanded
deceleration rate.
•
Clear the Status Deceleration bit.
•
Clear the Absolute/Incremental Move in Progress bit.
•
Set the Move Complete bit.
The absolute/incremental type of moves generate a trapezoidal or
triangular velocity profile.
Using the Speed Move Command
The speed move command generates a move at the specified speed in
the direction determined by the sign of the speed specified. Speed
move parameters for word 4, bit 2 appear in the table below.
1
s = Slot number for the SLC Servo Module.
The speed specified for the move is the maximum for the move.
IMPORTANT
A triangular velocity profile is generated if a
commanded move is not long enough to attain the
programmed velocity before the deceleration point is
reached.
Block Command Parameters
Location
1 Format Possible Values Default
Speed Move O:s.4 BITS X000 0000 0000 0100 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 –physical limit to +physical limit 0.0
If: This is the result:
The speed specified is greater than the
Maximum Axis Speed The speed for the move is limited
to the Maximum Axis Speed.
An error occurs while executing the
move The SLC processor is notified.