Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 153)

Publication 1746-6.1.2 - July 2000
9-10 Programming System Variables
For example, the following three tables show how the gain can be
manipulated for and during a given motion:
•
Gain can be manipulated for and during a given motion when
the SLC sends Set Axis Gain with a gain value of 1:
•
Gain can be manipulated for and during a given motion when
the SLC sends Speed Move:
•
Gain can be manipulated for and during a given motion when
the SLC iteratively sends Set Axis Gain with a modified gain
possibly based upon axis position during execution of the Speed
Move:
Word # Value Description
0 through 3 0000 0000 0000 0000 Bit commands
4 0000 0000 0000 0000 N/A
5 0000 0100 0000 0000 Set Axis Gain
6, 7 1.0 Gain = 1.0
Word # Value Description
0 through 3 0000 0000 0000 0000 Bit commands
4 0000 0000 0000 0100 Speed Move
5 0000 0100 0000 0000 N/A
6, 7 1.0 % Acceleration Ramp =
100%
8, 9 5.0 Speed - 5.0 inches per
second
Word # Value Description
0 through 3 0000 0000 0000 0000 Bit commands
4 0000 0000 0000 0000 N/A
5 0000 0110 0000 0000 Set max FE and Axis Gain
6, 7 X.X Max FE = X.X
8, 9 YY Gain = YY