Rockwell Automation 1771-QA Stepper Positioning Assembly User Manual - Manual (Page 89)

4–11 Example Programs
Publication 1771-UM002A–EN–P – May 2000
Position
Number
1 Function
Word
Description Equivalent
Word
2
055 466 Final Rate zero (ignored by stepper controller
module).
056 467 Decel Time 1.0 seconds (only used if needed for
controlled stop).
057 - 058 470 - 471 Final Position 19,200 pulses. The position where
the final rate is zero.
059 472 SMCW C000 hex. This begins the return
move, move 10.
060 473 Ramp Time 2.0 seconds to reach final rate in
reverse
061 474 Final Rate 2000 pulses/second in reverse.
062 475 Decel 3.0 seconds required value in last
move.
063 , 064 476, 477 MS. LS Position 000,000 pulses (starting position).
1 Position number of the data monitor display of FFM 0033.
2 Equivalent words in file A of FFM 0033.
Ladder Diagram 1-Axis Program
An example ladder diagram program for a 1-axis profile is presented
in Figure 4.4. A description of each rung follows:
Rungs 1 and 2
These rungs provide a controlled stop. When bit 110/15 is true, bit
500/06 (moveset control word, stop bit) is true and bit 500/07
(moveset control word, decel/inst bit) is true. The stepper controller
module will perform a controlled stop using the decel value in the
move being processed at the time the stop command is received.
Rung 3
This rung provides a reset (i.e. clears all status and position
information) to re-initialize the stepper controller module. When bit
112/03 is true, bit 500/04 (moveset control word, reset bit) is true.
Therefore, the controller module is rest.
Rung 4
This rung is used to start the positioning profile. When bit 110/14 is
true, bit 500/00 (moveset control word, start bit) is true. Execution
of the positioning profile begins.
Rung 5
This rung provides an initialized preset. When bit 110/16 is true, bit
502/17 (most significant preset word, bit 17) is true. Therefore, a
preset is performed.