Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 121)

Publication 1746-6.1.2 - July 2000
8-4 Programming the SLC Processor to Run the SLC Servo Module
corrupt the M File data before it gets transferred in the SLC Servo
Module to the profile storage or module configuration location.
If an error is generated, the CONFIG INV LED is turned on and errors
are reported in I:2.4 and the CONFIG INVALID bit I:2.1/14 (I:2/30) is
set.
Command and Status
Information This primary interface to the module remains active while you are
configuring the module to report errors flagged during configuration.
The SLC Servo Module executes two types of commands:
•
Discrete bit
•
Discrete block
The SLC Servo Module reads command bits and blocks every coarse
iteration. Discrete bits have a higher priority than discrete blocks.
Module Communication
Interface During each scan of the ladder program, the SLC processor module
interacts with the I/O image table of the SLC Servo Module as follows:
•
Writes 12 output command words to the I/O image table.
•
Reads 12 input status words from the I/O image table.
During each coarse iteration (configured from 4.8 to 9.6 milliseconds
based on the Fits Per CIT Configured value), the SLC Servo Module
does the following:
•
Reads 12 output command words from the SLC processor.
•
Makes 12 input command words available for the SLC processor
to read into the I/O image table.