Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 139)

Formatting and Interpreting Data Blocks
Chapter 7
7Ć57
moves the axis one unit in the negative direction to position coordinate
+3.5.
Incremental - If you turn on this bit, the position word specifies the
move endpoint relative to the most recently achieved programmed
endpoint. For example, if the axis is at position +4.5 and the position
word value is +3.5, the axis moves +3.5 units in the positive direction
to position +8.0.
Local Feedrate Word
If you turn on the local feedrate bit in the SMCW, you must include a
local feedrate word after the position words. Acceptable values depend
on units (Figure 7.37):
Inch: 0.0001 to 9990 ipm (bit 14 must be 0 for inch values)
Metric: 0.001 to 199900 mmpm
For example, to program a local feedrate of 100 ipm, you program .100 x
10
# ipm.
Figure 7.37
Local Feedrate Word
17 16 15 14 13 12 11 10 07 06 05 04 03 02 01 00
Local Feedrate Word
Multiplier
001 = x 10 -1
000 = x 10 0
010 = x 10
100 = x 10
110 = x 10
111 = x 10
1
2
3
4
inch metric
This BCD value (0.999 ipm or
19.99 mmpm max) times the
multiplier is the local feedrate.
11021
(Do not include this word if you select global feedrate)
Local Accel and Decel Words
If you turn on the local accel/decel bit in the SMCW, you must include
local accel and decel words at the end of the move block. These words
specify acceleration and deceleration rates as 4 digit BCD values
(Figure 7.38):
Inch: maximum value is 9999 ipm/s