Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 182)

Chapter 8
8Ć21
When the scanner and/or processor detects a block-transfer error, it halts
the transfer. Transfers from that module are prevented until:
your program clears the instruction’s control word (clears the error,
Figure 8.10)
you locate and correct the error
Figure 8.10
Example Rung to Clear the Control Word
CTRL WORD
03
13
MOV
MOVE FROM A TO R
A : STORAGE WORD
0000000000000000
R : CTRL WORD
0000000000000000
Consider a servo positioning assembly that controls the motion of two
axes. Figure 8.11, Figure 8.12, and Figure 8.13 show three moveset
profiles. Assume that you are to program these profiles for execution by
axis 1. When the servo positioning assembly receives a start command
via the command block, it is to execute movesets 1, 2, and 3 in sequence.
Axis motion is to stop after execution of moveset 3 is completed.
Figure 8.14 shows a single moveset profile. Assume that you are to
program this profile for execution by axis 2. After axis 2 performs move
block 2 of its moveset (a two second dwell), it is to wait until it receives a
start command via the command block to execute move block 3.
Programming Example