Rockwell-automation 2098-UWCPRG Ultraware Software User Manual Manual de usuario descargar pdf (Pagina 144)

146 Rockwell Automation Publication 2098-UM001G-EN-P - February 2011

Chapter 4 Configuring the Ultra5000 Drive

Understanding the Motion

Branch

The Ultra5000 drive's Motion branch is the parent to the branches – Jog, Move,

Gear and Cam – that are the sources of position commands that generate motion

for the Ultra5000 drive.

The following diagram illustrates the generation of the position command that is

sent to the position regulator. Each of the three sources is independent. If a source

is the only position command source, it operates alone. If there a multiple

position command sources, they are added together in the order set forth in these

diagram. The resulting composite position command is the sum of the position

commands from the three different sources:

Composite Position Command = PMOVE + PJOG + PGEAR + PCAM

You can copy the Motion branch and paste it into another Ultra5000 drive.

Because a drive can contain only one Motion branch, pasting a Motion branch

into a drive overwrites and replaces the recipient drive's pre-existing Motion

branch.

Except for Copy and Paste, no parameters, status, or commands are associated

with the Motion item.

Toggle Bookmark Set or remove a bookmark (a blue dot) in a selected line of code

for a source (.c) or header (.h) file.

Next Bookmark Locate the next bookmark (a blue dot) appearing in a selected

line of code for a source (.c) or header (.h) file.

Previous Bookmark Locate a bookmark (a blue dot) that appears above the cursor in

the selected source (.c) or header (.h) file.

Clear All Bookmarks Remove all bookmarks (blue dots) that have been set in a source

(.c) or header (.h) file.

Command Description

Move Jog Gear Cam

Composite

Position

Command

Ratchet

Encoder

PCMD

PMOVE PJOG PGEAR PCAM

+ + + +

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Rockwell-automation 2098-UWCPRG Ultraware Software User Manual Manual de usuario Pagina 144