Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 123)

Formatting and Interpreting Data Blocks
Chapter 7
7Ć41
block can describe is 21. All 21 moves would have to use global
accel/decel and final rate values.
Upon request from the status block, the PC processor writes a moveset
block to the 1771-M3 controller, which transfers the move blocks to the
1771-ES expander one at a time. The servo expander generates analog
voltage to command axis motion as programmed.
The first word of a moveset block is the moveset control word (MCW).
Following the MCW are the move blocks. Each move block consists of a
single move control word (SMCW), two position (or dwell) words, and
may contain words for local feedrate, accel rate, and decel rate, depending
on whether you select local or global rates by the SMCW.
You can leave words of zeros before and after move blocks. This gives
you flexibility. For example, you could remove a move block without
changing the location of the other move blocks within the data table.
However, you must respecify the number of moves in the moveset control
word.
If the end of program bit is off, the last word in a moveset block must be
an address pointer (in BCD format) to the moveset block that should be
executed next.
Moveset Control Word
The MCW word identifies the block as a moveset block, indicates
whether you program the axis in inch or metric units, specifies the number
of moves in the moveset and whether or not the moveset defines an
escape move (Figure 7.30).