Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 143)

Publication 1746-6.1.2 - July 2000
8-26 Programming the SLC Processor to Run the SLC Servo Module
The Plan Synchronized Move bit:
•
Can be set along with a move in the mutually exclusive move
set.
•
Tells the motion environment to hold the execution of the
associated move until a synchronize signal is received from the
backplane or as a fast input from the termination panel.
•
Can be used to synchronize the execution of a mutually
exclusive move or several moves to be executed on different
modules.
The move data (speed, acceleration, and position) is used to plan the
move, but the execution is held until the synchronize signal goes true.
For example, the Plan Synchronized Move is initiated if the float data
table is:
And the integer data table is:
The N31:0 data is shown in binary radix to show the most significant
bit set. Given this data, a speed move is initiated.
The example initiates a synchronized speed move:
•
At 500.0 position units per time base.
•
At 75% of the maximum acceleration specified in the
configuration.
A synchronized speed move occurs if:
•
Module is out of Estop.
•
Maximum speed configured is more than 500.0 position units
per minute.
•
Synchronized signal is received.
Word 0 (Accel/Decel) 1 (Velocity) 2 3 4 5
F47:0 0.75 500.0
Word 0 1 2 3 4 5
N31:0 0 0 0 0 10000000 00000100 0