Rockwell Automation 2098-IPD-020-DN Ultra5000 Series Intelligent Positioning Drives with DeviceNet Reference Manual - Manual (Page 50)

Publication 2098-RM002A-EN-P – October 2001
4-26 Programming Reference
53 Set Move Program
Accel
REAL 4
cnts/ sec
2 The acceleration rate used when ramping-up to
the move's velocity. Not saved in non-volatile
memory.
Range: 0 to 3.4e10
Default: 0
54 Set Move Program
Decel
REAL 4
cnts/ sec
2 The deceleration rate used when ramping-down
from the move's velocity to zero. Not saved in
non-volatile memory.
Range: 0 to 3.4e10
Default: 0
55 Get Move State USINT 1 Describes the state of the Move function.
0 = Idle
1 = Profiling
2 = Calculating
3 = Correcting
56 Get Move Floating
Zero
DINT 4 cnts In the event that the Move Current Position value
is changed by the execution of a program (.exe)
file, the value of this field will change so that the
sum of Move Floating Zero and Move Current
Position remains unchanged.
57 Get Move Current
Position
DINT 4 cnts The position generated by the current move. This
value is automatically re-set to zero at drive
power up.
58 Get Move Current
Velocity
REAL 4 cnts/ sec The velocity command generated by the current
move
59 Get Move Current
Accel
REAL 4
cnts/ sec 2 The acceleration command generated by the
current move.
60 Get Move Current
Jerk
REAL 4
cnts/ sec 3 The rate of change of acceleration generated by
the current move.
61 Set Camtable Load USINT 1 Loads the cam file specified by Camtable
Filename into memory.
0 = No Action (default)
1 = Execute Command
62 Set Camtable Unload USINT 1 Unloads the cam file from memory. This frees
drive memory.
0 = No Action (default)
1 = Execute Command
Parameter Object,
Instances ID 1- 340
Parameter
Instance
Access
Rule
Parameter
Name
Data
Type
Data
Size
(Bytes)
Units /
Scale
Description