Rockwell Automation 1771-QA Stepper Positioning Assembly User Manual - Manual (Page 24)

3–2 Programming and Operation
Publication 1771-UM002A–EN–P – May 2000
Move Definition
A move in its simplest form consists of an acceleration of the stepper
motor axis, a final rate, a deceleration to zero and a final position
(Figure 3.1). The value for an acceleration is the time required to
achieve a final rate. Values can be chosen from 0-9.99 seconds. The
final rate determines the constant speed of machine motion. The
final rate value can vary from 1 to 20,000 pulses per second. The
decel value, any value from 0-9.99 seconds, is the time required to
decelerate to zero pulses per second from a final rate.
The final position of a move is the number of pulses between 0 and
999,999 to be achieved by the move. The physical location will
depend on the resolution (pulses per degree of rotation or pulses per
inch of travel, etc.) of the stepper translator/motor configuration and
the specific application (gearing threads per inch of the linear axis,
etc.).
Figure 3.1
Move Definition
Rate
Final Rate
(1–20,000 Pulse/Sec)
Final Position
0–999,999 Pulses
Position
10514
Ramp (Accel)
(0-9.99 Sec)
Decel
(0-9.99 Sec)
Moveset
A moveset refers to the data used to control from 1 to 10 moves.
Sequential moves can be blended to form a continuous move profile
or can be implemented one move at a time where motion stops
between moves. A moveset can be executed using a minimum of
ladder diagram programming.
Two or more movesets can be implemented sequentially as if they
were a single large moveset. The stepper positioning assembly can
store two movesets simultaneously for up to three axes. When one
moveset is in operation (working moveset), the next moveset is in
storage (storage moveset). In the continuous mode, the last move of
the working moveset is blended with the first move of the storage
moveset.