Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 144)

1 Publication 1746-6.1.2 - July 2000
Chapter
9
Programming System Variables
Overview This chapter provides information to help you program the module
for the command mode of operation. This chapter includes the
following topics:
•
Using position initialization commands
•
Using online configuration commands
•
Understanding status information
•
Understanding SLC Servo Module processor status
Using Position Initialization
Commands The initialization commands that are discrete block commands from
the SLC Processor are:
•
Home axis
•
Set home
•
Set retract position
•
Preset position
Using the Home Axis Command
When you execute the Home Axis command, the following conditions
must exist before the homing operation can begin:
•
The motion control system must be out of Estop.
•
There must be no motion in progress.
If the system is in Estop, an error is sent to the SLC processor. If there
is motion in progress, that motion is canceled. Home axis parameters
for word 5, bit 0 appear in the table below.
1 s = Slot number for the SLC Servo Module.
Block Command Parameters
Location
1 Format Possible Values Default
Bit Specifications O:s.4 Bits 0000 0000 0000 0000 0
Home Axis O:s.5 Bits 0000 0000 0000 0001 0
% Acceleration Ramp O:s.6-O:s.7 Float 0.0 to 1.0 1.0
Speed Direction to Start Homing Axis O:s.8-O:s.9 Float –physical limit to +physical limit 0.0