Rockwell-automation 1746-HSRV SLC Servo Control Module User Manual Bedienungsanleitung PDF herunterladen (Seite 178)

Publication 1746-6.1.2 - July 2000

Input/Output Quick Reference

A-5

Word 2 Parameters

s = Slot number for the SLC Servo Module.

A small number of Fits per CIT cause a fast servo loop closure time that yields better motion performance on the

transitions, but slower communication with the SLC processor. As the number of Fits per CIT increases, motion

performance on the transitions degrades, but communication with the SLC processor is slightly enhanced. For

blended moves, Fits per CIT must be greater than 4.

Multi-Word Parameters

Parameter Name

(Parameter Group)

Destination M

FileLocation

Range Default Additional Information

Fits per CIT

(System)

M0:s.2/0 through

M0:s.2/3

3 to 6 3 One coarse iteration represents the servo loop

closure time. The fine iteration time on the SLC

Servo Module is 1.6 msec. The default Fits per CIT

provides a 4.8 msec servo loop closure time.

Reserved M0:s.2/4 through

M0:s.2/15

Reserved M0:s.3 0

Parameter Name

(Parameter Group)

Destination M

File Location

Range Default Additional Information

Reserved 0

Encoder Lines (Lines/

Rev)

(Feedback)

M0:s.4,s.5 1.0 to 8000 1000.0

Counts per Position

Unit

(Feedback)

M0:s.6,s.7 1.0 to 16909320.0 4000.0 This parameter specifies a conversion constant that

allows the module to convert position units into

internal resolution units and vice versa.

The module uses 4X encoder decoding (both edges

of channel A and B are counted). The count direction

is determined from both the direction of the edge

and the state of the opposite channel. Channel A

leads channel B for increasing count. This is the

most commonly used decode mode with incremental

encoders, since it provides the highest resolution.

Determine the parameters by using known

specifications of axis hardware components. For

example, if an axis has a 1000-line encoder directly

coupled to a 5 pitch lead screw (5 turns per inch) and

a position (unit of inches) for programming, the value

for the parameter is:

Counts per Position Unit

= 1000 Lines/Rev

x 4 Counts/Line

x 5 Revs/Inch

= 20000 Counts/Inch.

For the position (unit of millimeters) for

programming, the value for the parameter is:

Counts per Position Unit = 20000/25.4 Counts/Millimeter

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