Rockwell Automation 1771-QA Stepper Positioning Assembly User Manual - Manual (Page 97)

4–19 Example Programs
Publication 1771-UM002A–EN–P – May 2000
Also note that command bits for each axis are set in the
corresponding control word in file A of the file-to-file move
instruction prior to transfer to the stepper controller module.
Command bits are not set in the write block transfer file, file R, as
can be done in a 1-axis program.
Each axis is programmed for 20 moves. Therefore two 10-move 64
word profile movesets must be programmed for each axis. The first
profile moveset for each axis is labeled 1, the second is labeled 0 by
MCW, bit 16. Be sure that the axis to receive data is specified by
correctly setting the address bits 10 and 11 in the corresponding
moveset control words. Note that a false-to-true transition of any
file-to-file move instruction (rungs 34-39 of Figure 4.10) controlling
profile movesets will cause motion in the corresponding axis. This is
because the start bit (bit 00) of the moveset control word was
initially set in each profile moveset.
The ladder diagram program for the example 3-axis program is
presented in Figure 4.10. Corresponding moveset data has been
logged on the Moveset Data forms. These forms contain the data for
the example command files (Figures 4.11, 4.12 and 4.13), example
jog movesets (Figures 4.14, 4.15 and 4.16), and example profile
movesets 1 and 0 (Figures 4.17 thru 4.22) for each of the three axes.
A description of each rung of the 3-axis ladder diagram program
follows:
Important: Reset word 032 to zero as a boundary between block
transfer and other instruction addresses.