Rockwell Automation 1771-QA Stepper Positioning Assembly User Manual - Manual (Page 30)

3–8 Programming and Operation
Publication 1771-UM002A–EN–P – May 2000
Words that control the motion of the stepper motor axis, record
position or monitor move diagnostics are stored in data table files.
These words are grouped into the following three kinds of data
blocks.
•
Moveset Block
•
Move Block
•
Status Block
In addition to move data, the blocks contain special control or status
words. The bits in these words affect how the motion is controlled
or verify that the move commands and the move data were received
and implemented.
Moveset Block
The moveset block is a data table file for storing data and controlling
the motion of one stepper motor axis. It allows move data to be
stored in consecutive data table words to control up to 10 moves of a
positioning profile. Each axis must have at least one moveset block.
A moveset block must contain the following move data (Figure 3.6).
•
Moveset Control Word
•
Offset and Preset Words
•
One or more Moves
Figure 3.6
Moveset Block and Positioning Profile
Moveset Control Word
Offset word
MS Preset Word
LS Preset Word
Move Block # 1
Move Block # 2
Move Block # 3
Move Block # 9
Move Block # 10
64–Word Moveset Block in
Data Table
Move # 1 Interim Moves Move # 10
10519
Position
Rate
The 64-word moveset block may
contain from 1 to 10 move blocks. If using less than
10 move blocks, fill all unused words with zeros or
a programming error results.
1
1
1
Data Block Concepts