Rockwell Automation 1746-QS,D17466.19 SYNCHRONIZED AXES MODULE - Manual (Page 32)

5–6
Publication 1746-6.19 March 1998
| AXIS 1 and 2 STATE 2 |
| |
| Use motion profile words (mode, accel, decel, speed, and command) stored in |
| N12:6-11 (axis 1) and N12:18-23 (axis 2). |
| Wait for IN-POSITION bit to go high. Then set NEXT STATE to 3. |
| |
| Oneshot |
| AXIS1_STATE storage Bit AXIS1_MODE |
| +EQU–––––––––––––––+ B3:1 +COP–––––––––––––––+ |
|––+EQUAL +––+–––[OSR]––––––––––––––––––––––+–+COPY FILE +–+–+–|
| |Source A N7:0 | | 12 | |Source #N:12.6| | | |
| | 3<| | | |Dest #O:2.0| | | |
| |Source B 2 | | | |Length 6| | | |
| | 2<| | | +––––––––––––––––––+ | | |
| +––––––––––––––––––+ | | | | |
| | | AXIS2_MODE | | |
| | | +COP–––––––––––––––+ | | |
| | +–+COPY FILE +–+ | |
| | | |Source #N12:18| | | |
| | | |Dest #O2:8| | | |
| | | |Length 6| | | |
| | | +––––––––––––––––––+ | | |
| | | | | |
| | | Last command | | |
| | | has not been | | |
| | | acknowledged | | |
| | | AXIS_WAIT_ACK | | |
| | | B13:0 | | |
| | +––––––––(L)–––––––––––+ | |
| | 0 | |
| | Last command ACTUAL POSITION is | |
| | has not been within IN POSITION | |
| | acknowledged units of COMMAND | |
| | AXIS_wAIT_ACK POSITION AXIS1_NEXT STATE | |
| | B13:0 I/2 +–+MOV–––––––––––––––+ | |
| +–––––––]/[––––––––––] [–––––––––+–+MOVE FILE +–+ |
| 0 64 | |Source 3 | | |
| | | 3<| | |
| | |Dest N7:4 | | |
| | | 3<| | |
| | +––––––––––––––––––+ | |
| | | |
| | AXIS2_NEXT STATE | |
| | +MOV–––––––––––––––+ | |
| +–+MOVE FILE +–+ |
| |Source 3 | |
| | 3<| |
| |Dest N7:5 | |
| | 3<| |
| +––––––––––––––––––+ |
| |
| AXIS 1 and 2 STATE 3 |
| |
| Wait for 5 seconds. Then set the NEXT_STATE to 1. |
| Axis 1 |
| State 3 |
| AXIS1_STATE Delay |
| +EQU–––––––––––––––+ +TON–––––––––––––––+ |
|––+EQUAL +––+–––––––––––––––––––––––––––+TIMER ON DELAY +–(EN)–––+–|
| |Source A N7:0 | | |Timer T4:0 | | |
| | 3<| | |Time Base 1.0 +–(DN)–– | |
| |Source B 3 | | |Preset 5<| | |
| | 3<| | |Accum 1<| | |
| +––––––––––––––––––+ | +––––––––––––––––––+ | |
| | Axis 1 | |
| | State 3 | |
| | Delay | |
| | Complete AXIS1_NEXT STATE | |
| | T4:0 +–+MOV–––––––––––––––+ | |
| +–––––––] [––––––––––––––––––––––+–+MOVE FILE +–+ |
| DN | |Source 1 | | |
| | | 1<| | |
| | |Dest N7:4 | | |
| | | 3<| | |
| | +––––––––––––––––––+ | |
| | | |
| | AXIS2_NEXT STATE | |
| | +MOV–––––––––––––––+ | |
| +–+MOVE FILE +–+ |
| |Source 1 | |
| | 1<| |
| |Dest N7:5 | |
| | 3<| |
| +––––––––––––––––––+ |