Rockwell-automation 1771-QA Stepper Positioning Assembly User Manual Manual de usuario descargar pdf (Pagina 88)

4–10 Example Programs

Publication 1771-UM002A–EN–P – May 2000

Move Data

The 10-move 1-axis positioning profile (Figure 4.1) is in the

continuous mode, reverses direction at 19,200 pulses and returns to

the starting position. In order to reverse direction in this mode, a

0Hz rate move must be programmed (move 9). Note that decel

values for all moves except the last move are ignored by the stepper

controller module unless a software controlled stop is initiated, or a

system fault is detected.

Moveset data for the 1-axis profile is logged in the Moveset Data

form (Figure 4.2). When this data is entered into file A of the

file-to-file move instruction FFM 0033 using the data monitor mode

of the industrial terminal, it will appear as in Figure 4.5. File R

should be ignored during programming.

The functions of the moveset data are summarized in Table 4.B.

Table 4.B

Functions of Moveset Data (1-Axis Program)

Position

Number

Equivalent

Word

Description Function

001 400 Moveset Control Word Bit 10 is set to identify axis 1. (The

hex value of 1 = 001 in bits 12-10,

respectively.) Bits 01 and 02 are 0 to

designate continuous mode.

002 - 004 401 - 403 Offset/Preset Word Ignored in this example

005 404 Single Move Control

Word

C000 hex = 1100 0000 0000 0000

which identifies the single move

control word for move 1.

006 405 Ramp Time 3.0 seconds to reach the final rate for

move 1.

007 406 Final Rate 2000 pulses/second, move 1.

008 407 Decel 1.0 second (only used if needed for

an emergency controlled stop during

mode 1.)

009 - 010 410 - 411 MS, LS Position 6000 pulses. Final position of move

011 - 052 412 - 462 Repeated Move Data Move 2 through move 8 (Each move

is formatted similar to positions

005-010 for move 2).

. . . .

053 464 SMCW C000 hex. This begins the 0Hz rate

move, move 9.

054 465 Ramp Time zero

1 2 ... 83 84 85 86 87 88 89 90 91 92 93 ... 131 132

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