Rockwell-automation 1746-HSRV SLC Servo Control Module User Manual Bedienungsanleitung PDF herunterladen (Seite 144)

1 Publication 1746-6.1.2 - July 2000

Chapter

Programming System Variables

Overview

This chapter provides information to help you program the module

for the command mode of operation. This chapter includes the

following topics:

• Using position initialization commands

• Using online configuration commands

• Understanding status information

• Understanding SLC Servo Module processor status

Using Position Initialization

Commands

The initialization commands that are discrete block commands from

the SLC Processor are:

• Home axis

• Set home

• Set retract position

• Preset position

Using the Home Axis Command

When you execute the Home Axis command, the following conditions

must exist before the homing operation can begin:

• The motion control system must be out of Estop.

• There must be no motion in progress.

If the system is in Estop, an error is sent to the SLC processor. If there

is motion in progress, that motion is canceled. Home axis parameters

for word 5, bit 0 appear in the table below.

s = Slot number for the SLC Servo Module.

Block Command Parameters

Location

Format Possible Values Default

Bit Specifications O:s.4 Bits 0000 0000 0000 0000 0

Home Axis O:s.5 Bits 0000 0000 0000 0001 0

% Acceleration Ramp O:s.6-O:s.7 Float 0.0 to 1.0 1.0

Speed Direction to Start Homing Axis O:s.8-O:s.9 Float –physical limit to +physical limit 0.0

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Rockwell-automation 1746-HSRV SLC Servo Control Module User Manual Bedienungsanleitung Seite 144