Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 30)

Positioning with Allen-Bradley PC
Chapter 4
4Ć6
You can program multiple movesets for a given axis.
Move Selection
For each move, you have each of the following selections:
Absolute or incremental positioning - In an absolute move, the
endpoint value specifies a position coordinate relative to the current
axis zero position. In an incremental move, the endpoint value
specifies a position coordinate relative to the last programmed endpoint
achieved by the axis.
Global or local values - You enter a global final feedrate value and a
global accel/decel rate value. These global rates apply to all moves
except those for which you select to specify local rates. A local rate
applies only to a single move.
Halt or run - After completing a move for which you have selected
halt, the 1771-ES expander will not execute the next move until it
receives a begin or start command. After completing a move for which
you have selected run, the 1771-ES expander will immediately execute
the next move without waiting for a start command. With halt selected,
the module executes a single-step move. With run selected, you can
select moves to be either single-step moves or continuous moves.
Single-step or continuous - When the 1771-ES expander executes a
single-step move, it decelerates the axis to zero velocity at the
programmed endpoint. When it executes a continuous move, it
attempts to blend the move smoothly with the final feedrate of the next
move (if the next move is in the same direction). The moves in
Figure 4.6 are all programmed as single-step moves. Figure 4.7 shows
the same moveset with all moves programmed as continuous. A
moveset can contain a mix of single-step and continuous moves.