Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 147)

Publication 1746-6.1.2 - July 2000
9-4 Programming System Variables
Typical Set Home Move Data Tables
Before executing a Set Home move, set Source B for the Equal
instruction in Figure 9.1 to 2. A Set Home command to set the
command position to –1.0 is initiated if the float data table is:
And the integer data table is:
Using the Set Retract Position Command
The Set Retract Position command sets the internal Retract Position
equal to the specified Retract Position . Set Retract Position
parameters for word 5, bit 2 appear in the table below.
1 s = Slot number for the SLC Servo Module.
The speed and time to reach speed are set accordingly and used
during the Retract Position move. This is the position that the axis
goes to when the discrete Retract Position bit gets set. This function is
useful when you want to set up a safe location for the axis to take
refuge in an emergency situation.
This operation can only be performed if the following occurs:
•
SLC Servo Module is out of Estop
•
There is no motion in progress
•
Axis is homed
Word 0 (Position) 1 2 3 4 5
F27:0 –1.0
Word 0 1 2 3 4 5
N32:0 0 0 0 0 0 2
Block Command Parameters
Location
1 Format Possible Values Default
Bit Specifications O:s.4 Bits 0000 0000 0000 0000 0
Set Retract Position O:s.5 Bits 0000 0000 0000 0100 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 0.0 to +physical limit 0.0
Retract Position position O:s.10-O:s.1
1 Float –axis travel limit to
+axis travel limit 0.0