Rockwell Automation 1746-HSTP1 Stepper Controller Module/ User Manual - Manual (Page 53)

Publication 999-121 - December 1999
5-18 Configuration and Programming
terminals 6 through 11, respectively. The Module responds to these
direct inputs as follows:
• External Interrupt Input – When this input is turned on, the axis
decelerates to the programmed starting speed, and then stops.
This input works only when a jog operation is being performed.
The axis does not stop if this input is activated during any other
type of move operation.
• Home Limit Switch Input – Activating this input indicates to the
Module that the current find home operation is complete, and
stops axis motion.
• Home Proximity Switch Input – Activating this input during a
find home operation affects the homing sequence. Refer to Find
Home
+/(CW), Find Home –/(CCW), earlier in this chapter for
further information.
• CW or CCW Limit Switch Input – If either of these inputs is
activated during a find home operation, the motor reverses
direction and begins looking for the home limit switch or home
proximity switch, as applicable. If either the CW or CCW limit
switch input is activated during a normal move or jog move
operation, the pulse train output is disabled immediately; the
present position then becomes invalid.
• Pulse Train Enable/Disable Input – If this input is activated, the
Module pulse train output to the motor ceases and the present
position becomes invalid.
Programming Blended
Moves General Information
The blend move command permits the Module to blend motion
segments together to create more complex move profiles. A move
profile can consist of 2 to 16 segments. Each segment is defined by
four parameters: absolute target position, velocity, acceleration rate,
and deceleration rate.
The minimum amount of information required to define a new move
segment is a change in both the absolute target position and the
velocity. Changes in acceleration and deceleration rates are not
required. If both a new target position and a new velocity are not
specified, the command error input bit is set.
Blend move profiles can be programmed in a single block, and the
segments stored in the internal memory of the Module. Each blend
move profile is programmed as a series of absolute moves, which