Rockwell-automation 1771-QA Stepper Positioning Assembly User Manual Manual de usuario descargar pdf (Pagina 39)

3–17Programming and Operation

Publication 1771-UM002A–EN–P – May 2000

Move Block

A move block contains ramp, final rate, final position and

deceleration data that characterize a move. A moveset block must

contain from 1 to 10 move blocks. A move block contains the

following words (Figure 3.12):

• Single Move Control Word

• Move Data

Figure 3.12

Single Move Control Word

17 16 SMCW 03 02 01 00

Move Preset

Rate Multiplier

Move Skip

Load Jog

Always 1 to

10526

identify the SMCW

110000000000

Always Zero

Single Move Control Word

The single move control word is the first word in each move block.

The word contains two identification bits (bits 16, 17) and four bits

which affect the operation of the move (bits 00-03). The function of

each bit is defined below and summarized in Figure 3.12.

Bit 00 Move Preset Bit.

This bit, when set, causes the value contained in the preset words of

the moveset block to become the starting point value for that move.

The position register becomes this value. The preset value can be

changed and re-enabled as needed to further extend the position limit

or to allow the profile to return to the home position. Refer to

“Move Preset.”

Bit 01 Rate Multiplier Bit.

When the rate multiplier bit is set, final rates can be selected in 10

pulses per second increments between 0 and 20,000 pulses per

second.

When this bit is zero, any final rate from 1 to 9,999 pulses per

second can be selected in 1 pulse per second increments.

This bit would typically be set when ramp, rate and decel values are

initially set in the data table using the data monitor mode of the

industrial terminal.

1 2 ... 34 35 36 37 38 39 40 41 42 43 44 ... 131 132

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Rockwell-automation 1771-QA Stepper Positioning Assembly User Manual Manual de usuario Pagina 39