Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 133)

Publication 1746-6.1.2 - July 2000
8-16 Programming the SLC Processor to Run the SLC Servo Module
The speed move ends if any one of the following occurs:
•
The move reaches an overtravel limit if overtravel limits are
specified.
•
The SLC processor cancels the move. The Cancel Move bit is
used to cancel the speed 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 or Speed.
Planning a Speed Move
Figure 8.7 shows a typical ladder program block diagram that initiates
a speed move from the SLC processor. Other moves are initiated by
setting appropriate values in the data tables and copying the data to
the appropriate module output words.
Figure 8.7 Speed Move Command Block Diagram
For example, a speed move is initiated if the float data table is:
And the integer data table is:
Word 0 (Accel/Decel) 1 (Velocity) 2 3 4 5
F44:0 1 10
Word 0 1 2 3 4 5
N31:0 4 0 0 0 0 0