Rockwell Automation 1771-QB Linear Pos. - Manual (Page 112)

Formatting Module Data (WRITES)
Chapter 7
7Ć33
Figure 7.43
Command Block Word Assignments
50085
WORD
1
2
3
4
5
6
7
8
9
10
11
12
13
14 Axis control word 1
Axis control word 2
(MS) Setpoint 13 position
(LS) Setpoint 13 position
Setpoint 13 velocity
Setpoint 13 acceleration
Setpoint 13 deceleration
Axis control word 1
Axis control word 2
(MS) Setpoint 13 position
(LS) Setpoint 13 position
Setpoint 13 velocity
Setpoint 13 acceleration
Setpoint 13 deceleration
Axis 1
Axis 2
Axis Control Word 1 (words 1 and 8)
The structure of axis control word 1 is shown below:
Figure 7.44
Axis Control Word 1
50086
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
1 0
Start
..
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...
Control
word ID
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... 1
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Readout select:
00 = Position
01 = Following Error
10 = Diagnostic
Integral Disable
Reset
Immediate stop
Slide stop Jog reverse
Jog forward
Jog rate (1 = high, 0 = low)
Incremental move 13
Auto/manual
Hardware
start enable