Rockwell Automation 57C422B 2 Axis Servo Module User Manual
Page 116
H-2
2-Axis Servo Module M/N 57C422B
where:
nnnnn - BASIC statement number. This number may range
from 1-32767.
SYMBOLIC_NAME! - A symbolic name chosen by the user
and ending with (!). This indicates a LONG INTEGER data
type and all references will access registers "r" and "r+ 1 ".
SYMBOLIC_NAME% - A symbolic name chosen by the user
and ending with (%). This indicates an INTEGER data type
and all references will acces register “r”.
SYMBOLIC_NAME@ - A symbolic name chosen by the
user and ending with (@). This iridicates a BOOLEAN data
type and all references will access bit number "b" in register
"r."
SLOT - Slot number that the module is plugged into. This
number may range from 0-15.
REGISTER - Specifies the register that is being referenced.
This number may range from 0-4095.
BIT - Used with boolean data types only. Specifies the bit in
the register that is being referenced. This number may range
from 0-15.
Sample Configuration Task
The following is a sample configuration for the X axis of a
module located in slot 8. Note that version 3.0 or later
Programming Executive software allows you to enter the
variable names and comments below on a customized form
and does not require a separate task.
1000
IODEF
ENCODER_SETUP%[
SLOT =8,
REGISTER=0]
1010
IODEF
DRIVE_SETUP%[
SLOT =8,
REGISTER=1]
1020
IODEF
SWITCHES%[
SLOT =8,
REGISTER=2]
1030
IODEF
PGAIN%[
SLOT =8,
REGISTER=3]
1040
IODEF
IGAIN%[
SLOT =8,
REGISTER=4]
1050
IODEF
VGAIN%[
SLOT =8,
REGISTER=5]
1060
IODEF
FGAIN%[
SLOT =8,
REGISTER=6]
1070
IODEF
DBCOMP%[
SLOT =8,
REGISTER=7]
1080
IODEF
MAX_FOLL_ERR%[
SLOT =8,
REGISTER=8]
1090
IODEF
MAX_VEL_ERR%[
SLOT =8,
REGISTER=9]
1100
IODEF
IN_TOLERANCE%[
SLOT =8,
REGISTER=10]
1110
IODEF
HOME_SPDI[
SLOT =8,
REGISTER=15]
1120
IODEF
CMD_POSI[
SLOT =8,
REGISTER=17]
1130
IODEF
CMD_VELI[
SLOT =8,
REGISTER=19]
1140
IODEF
CMD_ACC![
SLOT =8,
REGISTER=21]
1150
IODEF
CMD_DECI[
SLOT =8,
REGISTER=23]
1160
IODEF
GEAR_RATIO![
SLOT =8,
REGISTER=25]
1170
IODEF
MAX_VOLTS%[
SLOT =8,
REGISTER=31]