Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 31)

Positioning with Allen-Bradley PC
Chapter 4
4Ć7
Figure 4.7
Moveset Profile with all Continuous Moves
Move 1 Move 2 Move 3
Position
Rate +
Rate Ć
Move 4
1 2 3 4 5 6 7 8
11012
0
11012
Move Alternatives
In place of a move to position, in any move block you can select one of
the following:
Dwell - Instead of an endpoint and rates, you can program a time in
seconds in the move block. When the 1771-ES expander executes a
dwell move block, it stops axis motion for the programmed amount of
time.
Preset to Position - You can program an axis position preset value in
the command block. When the 1771-ES expander executes a preset to
position, it sets its axis position register to the programmed preset
value. No axis motion occurs.
Move to Position with Offset - The parameter block contains an offset
value. When the 1771-ES expander executes a move to position with
offset, it adds this offset value to an offset accumulator. For every
move, it adds the value stored in the accumulator to the programmed
endpoint then executes the move.
Constant Velocity - This command clears the position register to zero
before moving the axis to the position you specify. By repeatedly
generating continuous constant velocity moves, you can cause
uninterrupted motion, which could, for example, be applied to a
conveyor.(Figure 4.8).