Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 109)

Inputs and Outputs • Assignable Inputs 87
Publication 1398-PM601A-EN-P — October 2000
I/O
Emergency Return (I10)
When Emergency Return Turns ON
•
If a program is running, it is aborted. Refer to Part 5
•
Language Reference, ABORT, for more
detailed information on what happens when a program is aborted.
• Once all motion has stopped, System program 26 (Emergency Return) is executed. Refer to
Appendix A, System Programs, for more detailed information.
When Emergency Return Turns OFF
This edge is ignored by the ULTRA Plus or IQ.
Home Command (I6)
The Home Command input is used to start system program number 25. System program 25 is the loca-
tion for the default home program. Refer to Appendix A for details on the default home program.
When the Home Command Turns ON
System program 25 is started. This input is ignored if another main program is running.
When Home Command Turns OFF
This edge is ignored by the ULTRA Plus or IQ.
Home Switch (I5)
The Home Switch input can be used by the supplied home program (System Program 25) to identify the
home position. The input can be defined as active OPEN, or active CLOSED to 24 Volt common in the
Parameter menu, Inputs dialog box. For details on how this input functions with the home program refer
to Appendix A, System Program 25, Home Program.
Jog Forward (I7) and Jog Reverse (I8)
The jog inputs cause a jog command to be generated. Jog commands are controlled by three system
variables: JVEL, JACCEL, and JDECEL. JVEL sets the speed of the jog. JACCEL sets the acceleration
rate, and JDECEL sets the deceleration rate. The Jog Forward input will cause motion in the forward
direction (position increasing), Jog Reverse input will cause motion in the reverse direction (position
decreasing).
Jog commands use the same system resources as MOVV commands. When a program starts, JVEL is
set to zero. If you want to use Jog inputs while a program is running, you must set JVEL in your pro-
gram. After a MOVV has finished executing (MOVV = 0), JVEL is set to the Jog velocity value defined
in the Parameter menu, Velocity/Accel dialog box.
When a Jog Input is Turned ON
When the Jog input turns ON, a jog position command is generated and added to any GEAR or program
MOVD or MOVP that may be in progress. The motion that is created by the Jog input is a ramp to
JVEL velocity, using the JACCEL acceleration.
Note: If a MOVV is being executed, jogging in the opposite direction will cause the MOVV
motion to ramp to zero velocity. If the Jog inputs are released, the system will continue moving per
the MOVV command. Jogging in the same direction will have no effect on the MOVV motion