Rockwell Automation 1771-QA Stepper Positioning Assembly User Manual - Manual (Page 88)

4–10 Example Programs
Publication 1771-UM002A–EN–P – May 2000
Move Data
The 10-move 1-axis positioning profile (Figure 4.1) is in the
continuous mode, reverses direction at 19,200 pulses and returns to
the starting position. In order to reverse direction in this mode, a
0Hz rate move must be programmed (move 9). Note that decel
values for all moves except the last move are ignored by the stepper
controller module unless a software controlled stop is initiated, or a
system fault is detected.
Moveset data for the 1-axis profile is logged in the Moveset Data
form (Figure 4.2). When this data is entered into file A of the
file-to-file move instruction FFM 0033 using the data monitor mode
of the industrial terminal, it will appear as in Figure 4.5. File R
should be ignored during programming.
The functions of the moveset data are summarized in Table 4.B.
Table 4.B
Functions of Moveset Data (1-Axis Program)
Position
Number
1
Equivalent
Word
2
Word
Description
Function
001 400 Moveset Control Word Bit 10 is set to identify axis 1. (The
hex value of 1 = 001 in bits 12-10,
respectively.) Bits 01 and 02 are 0 to
designate continuous mode.
002 - 004 401 - 403 Offset/Preset Word Ignored in this example
005 404 Single Move Control
Word C000 hex = 1100 0000 0000 0000
which identifies the single move
control word for move 1.
006 405 Ramp Time 3.0 seconds to reach the final rate for
move 1.
007 406 Final Rate 2000 pulses/second, move 1.
008 407 Decel 1.0 second (only used if needed for
an emergency controlled stop during
mode 1.)
009 - 010 410 - 411 MS, LS Position 6000 pulses. Final position of move
1.
011 - 052 412 - 462 Repeated Move Data Move 2 through move 8 (Each move
is formatted similar to positions
005-010 for move 2).
. . . .
. . . .
053 464 SMCW C000 hex. This begins the 0Hz rate
move, move 9.
054 465 Ramp Time zero