Rockwell Automation 1746-QS,D17466.19 SYNCHRONIZED AXES MODULE - Manual (Page 44)

Using Processor Files C–2
Publication 1746-6.19 March 1998
Transferring Motion Commands and Axis Status
Motion commands and axis status can be integer or floating-point values.
Important: If your application requires position values > 32,767, you
must use floating-point values and your ladder logic instructions must:
compute floating-point numbers from integer
•
store values in floating-point (F) files
Each of four files contains the 8-word motion command for an axis.
The eight words define the axis’ motion profile. When directed by a
ladder logic command, ladder logic moves the files into the output
image table for transfer to the module. The example shows floating
point files with compute instructions.
Output Image Table
>>>
Axis 4 #F7:24
Axis 3 #F7:16
Axis 1 #F7:0
F files contain 8-word
motion-control commands
Mode
Accel
Decel
Speed
Position
Command
reserved (2) >>>
>>>
>>>
1746-QS Module
Commands
for Motion
Profiles
>>>
>>>
>>>
>>>
Axis 2 #F7:8
Mode
Accel
Decel
Speed
Position
Command
reserved (2)
Ladder Logic
Compute FP
to Integer Output
Image
Scan
When directed by a ladder logic command, ladder logic moves eight
words of axis status from the input image table to processor files.
The example shows floating-point with compute instructions and
floating-point files.
Input Image Table
>>>
Axis 4 #F7:24
Axis 3 #F7:16
Axis 1 #F7:0 N files contain
8 words of
axis status
Commanded Position
Target Position
Actual Position
LDT Counts
Status Bits
Drive Output
Actual Speed
Drive Null
>>>
>>>
>>>
1746-QS Module
>>>
>>>
>>>
>>>
Axis 2 #F7:8
Commanded Position
Target Position
Actual Position
LDT Counts
Status Bits
Drive Output
Actual Speed
Drive Null
Axis Status During
a Motion Profile
Input
Image
Scan
Ladder Logic
Computes FP
from Integer
and stores data
in F files.
Transferring Configuration Parameters
Configuration parameters are defined as integer (N) values.
Each of four N files contains the 16-word configuration parameters
for an axis. The 16 words define the axis’ static characteristics. At
power up or when directed by a ladder logic command, ladder logic
copies N files into the M0 file for transfer to the module.