Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 92)

Publication 1746-6.1.2 - July 2000
Setting Up Your SLC Servo Module 7-13
2. Verify that the SLC Servo Module is in an Estop state.
3. Copy the M0 file with the output word 0 mode bit (15) set to 1.
4. Verify that the SLC Servo Module is in the configuration mode.
5. Using the programming device for the SLC processor (RSLogix,
AI500, or APS Software) enter the program example, found in
Appendix C of this manual, with the appropriate changes for
the SLC Servo Module locations for the system.
6. Using the data monitor, change the values in the configuration
files to match the default specifications for the SLC Servo
Module, except for the Encoder Lines and Counts Per Position
Unit parameters.
Communicating Between
the SLC Processor and the
SLC Servo Module Communication between the SLC processor and the SLC Servo Module
occurs asynchronously through 12 input and 12 output words. The
SLC Servo Module requires that an input is present from one to two
coarse iterations before it is guaranteed to be recognized. SLC Servo
Module ladder logic rungs contain timers that can provide the proper
timing.
The preferred method is to build handshake logic into the SLC Servo
Module ladder program. A handshake occurs when the SLC processor
requests a change and tests for an appropriate change in the SLC
Servo Module status word before continuing.
The SLC Servo Module can deny requests from the SLC processor
because the SLC Servo Module is not in the correct state to grant the
request. Some SLC Servo Module inputs are only recognized on the
input transition. If the SLC Servo Module is not in the correct state to
grant a request when the input transition occurs, the input request is
denied. Unless you toggle the input again, the SLC Servo Module
ignores the request.
Entering Encoder Lines and
Computing Counts Encoder lines are entered to compute counts per unit and maximum
speed.
IMPORTANT
For this program example, the discrete
configurations are in file N7 and the multiword
floating-point parameters are in file F8.