Rockwell-automation 1746-HSRV SLC Servo Control Module User Manual Manual do Utilizador descarregar pdf (Página 147)

Publication 1746-6.1.2 - July 2000

9-4

Programming System Variables

Typical Set Home Move Data Tables

Before executing a Set Home move, set Source B for the Equal

instruction in Figure 9.1 to 2. A Set Home command to set the

command position to –1.0 is initiated if the float data table is:

And the integer data table is:

Using the Set Retract Position Command

The Set Retract Position command sets the internal Retract Position

equal to the specified Retract Position . Set Retract Position

parameters for word 5, bit 2 appear in the table below.

s = Slot number for the SLC Servo Module.

The speed and time to reach speed are set accordingly and used

during the Retract Position move. This is the position that the axis

goes to when the discrete Retract Position bit gets set. This function is

useful when you want to set up a safe location for the axis to take

refuge in an emergency situation.

This operation can only be performed if the following occurs:

• SLC Servo Module is out of Estop

• There is no motion in progress

• Axis is homed

Word 0 (Position) 1 2 3 4 5

F27:0 –1.0

Word 0 1 2 3 4 5

N32:0 0 0 0 0 0

Block Command Parameters

Location

Format Possible Values Default

Bit Specifications O:s.4 Bits 0000 0000 0000 0000

Set Retract Position O:s.5 Bits 0000 0000 0000 0100

% Acceleration Ramp O:s.6-O:s.7 Float 0.0 to 1.0

1.0

Speed O:s.8-O:s.9 Float 0.0 to +physical limit

0.0

Retract Position position O:s.10-O:s.1

Float –axis travel limit to

+axis travel limit

0.0

1 2 ... 142 143 144 145 146 147 148 149 150 151 152 ... 223 224

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Rockwell-automation 1746-HSRV SLC Servo Control Module User Manual Manual do Utilizador Página 147