Rockwell-automation 1771-QA Stepper Positioning Assembly User Manual Manual de usuario Pagina 81
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4–3Example Programs
Publication 1771-UM002A–EN–P – May 2000
Figure 4.2
Example 1-Axis Profile Moveset
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
Counter Addr:
Axis No.: File Length:
File A: to Moveset No.: File R: to
Position FILE A DATA Description Move
MCW
Offset
MS Preset
LS Preset
SMCW
Ramp
Rate
Decel
MS Pos
LS Pos
1
SMCW
Ramp
Rate
Decel
MS Pos
LS Pos
2
SMCW
Ramp
Rate
Decel
MS Pos
LS Pos
3
SMCW
Ramp
Rate
Decel
MS Pos
LS Pos
4
SMCW
Ramp
Rate
Decel
5
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
Position FILE A DATA Description Move
MS Pos
LS Pos
SMCW
Ramp
Rate
Decel
MS Pos
LS Pos
6
7
8
9
10
SMCW
Ramp
Rate
Decel
MS Pos
LS Pos
SMCW
Ramp
Rate
Decel
MS Pos
LS Pos
SMCW
Ramp
Rate
Decel
MS Pos
LS Pos
SMCW
Ramp
Rate
Decel
MS Pos
LS Pos
SMCW
Ramp
Rate
Decel
MS Pos
LS Pos
0
0
0
0
1
0
0
0
0
0
0
0
0
0
0
0
C
0
2
0
0
3
0
1
0
0
0
0
0
0
0
0
0
0
C
0
0
0
0
1
0
0
0
0
6
0
0
0
1
0
0
0
8
1
0
0
0
0
0
0
0
0
9
0
C
0
1
0
0
1
5
1
0
0
0
0
0
0
0
0
0
0
C
0
0
0
0
1
1
0
0
0
2
0
0
0
1
0
0
0
1
1
0
0
0
0
1
0
0
0
5
0
C
0
0
0
0
1
8
1
0
0
0
0
0
0
0
0
0
0
C
0
0
5
0
1
1
0
0
0
6
0
0
0
0
0
0
0
2
1
0
5
0
0
1
0
0
0
7
0
C
0
0
0
0
1
1
1
0
0
0
0
0
0
0
0
0
0
C
0
0
5
0
1
1
0
0
0
8
0
0
0
0
0
0
0
0
1
0
0
5
0
1
0
0
0
9
0
C
0
0
0
0
0
0
1
0
0
0
0
0
0
0
0
0
0
C
0
0
2
0
2
1
0
0
0
9
0
0
0
2
0
0
0
0
3
0
0
0
0
0
0
0
0
0
0
033 1 064
400 477 1 500 577
106
0
ALLEN-BRADLEY
Moveset Data
Programmable Controller
(October, 1982)
HEXIDECIMAL DATA MONITOR
FILE–TO–FILE MOVE
- Positioning 1
- Assembly 1
- Allen-Bradley 1
- Important User 2
- Information 2
- Table of Contents 3
- Table of Contentsii 4
- Example Programs 5
- CSA Hazardous Location 5
- Approval 5
- Table of Contentsiv 6
- 7
- Understand Compliance to 8
- European Union Directives 8
- 1–3Introduction 9
- 1–4 Introduction 10
- Assembly and Installation 11
- Power Supply 12
- Considerations 12
- Pulse Output Expander 13
- Table 2.A 14
- Figure 2.2 14
- Output Format (S1) 15
- Input Logic (S2) 16
- Expander Module Address (S3) 16
- Switch Assembly S3 Expander 17
- ON OFF OFF 1 17
- OFF ON OFF 2 17
- ON ON OFF 3 17
- Diagnostic Indicators 18
- Installation 19
- Compatibility 21
- Module Specifications 21
- Pr ogramming and Operation 23
- Move Definition 24
- Positioning Modes 25
- MS Preset Word 30
- Not Used (Must be zero) 31
- 17 10 07 00 36
- Move Block 39
- • Single Move Control Word 39
- • Move Data 39
- Status Block 42
- • Status Word 42
- • Position Word 42
- Block Transfer 47
- Programming 47
- Programming Considerations 52
- , bit 13 54
- Table 3.A 56
- Size of Data Files 56
- Handshaking 57
- 13 Command Verify 00 59
- • Program length = 2K words 65
- Application 66
- Resonant Frequency 76
- Table 3.C 77
- Output Accuracy 77
- Table 3.D 77
- Ramp and Decel Time Accuracy 77
- Minimum Move Time 78
- Example Pr ograms 79
- Programming a 1-Axis Profile 80
- Example 1-Axis Program 83
- HEXADECIMAL DATA MONITOR 85
- FILE-TO-FILE MOVE 85
- POSITION: 001 85
- 4–8 Example Programs 86
- 4–9Example Programs 87
- Table 4.A 87
- Ignored in this example 88
- 4–11Example Programs 89
- 4–12 Example Programs 90
- 4–14 Example Programs 92
- 3-Axis Program 93
- Programming a 3-Axis 96
- 4–19Example Programs 97
- Example 3-Axis Program 98
- MS Preset 104
- 4–36 Example Programs 114
- 4–37Example Programs 115
- 4–38 Example Programs 116
- Operational Summary 117
- 4–42 Example Programs 120
- Tr oubleshooting 121
- 5–2 Troubleshooting 122
- Table 5.A 122
- Power-Up Troubleshooting 122
- Troubleshooting 124
- Illegal Bit Combinations 125
- 5–6 Troubleshooting 126
- Specifications 127
- CSA Hazar dous Location 129
- Appr oval 129
- Worldwide representation 132
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