Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 125)

Publication 1746-6.1.2 - July 2000
8-8 Programming the SLC Processor to Run the SLC Servo Module
Word 1 Discrete Bit Commands
1 s = Slot number for the SLC Servo Module.
Discrete Block Commands
from the SLC Processor The discrete block commands are sent from the SLC processor to the
SLC Servo Module using discrete I/O. It contains two words of bit
information and a variable number of integer and/or floating-point
values.
Words 0 and 1 contain the SLC processor to SLC Servo Module discrete
bit commands. Words 2 and 3 contain the Incremental Position
command. Words 4 through 11 contain command blocks that control
motion and/or motion related activities.
The SLC Servo Module responds to the new block command every
time it differs from the one previously received. If command word 4
or word 5 is not zero, the SLC Servo Module reads each subsequent
word to verify a change.
The Plan Synchronized Move bit can be set in conjunction with a
move in the simple move command set.
Bit Specifications
Location
1 Description
Reserved O:s.1/0
Reserved O:s.1/1
On Home Limit O:s.1/2 On Home Limit (word 1, bit 2) informs the SLC Servo Module that the axis has moved onto the
home limit switch.
If the Limit Source is configured for the backplane and Home Type is configured for
Homing to Limit Switch, the SLC Ladder program is responsible for passing the state of
this switch to the SLC Servo Module. If the Limit Source is configured for the termination
panel, the state of this switch is reflected by FIN[3].
Reserved O:s.1/3 through 1/7
Clear Fault O:s.1/8 Clear Fault (word 1, bit 8), when set, clears the informational message or fault, currently
reported in the fault code word I:s.4 by the SLC Servo Module. Toggle this bit to clear each
informational message or fault reported by the SLC Servo Module. The messages and faults
are cleared using the first-in, first-out (FIFO) method.
Clear All Faults O:s.1/9 Clear All Faults (word 1, bit 9), when set, clears all informational messages and faults
currently reported by the SLC Servo Module.
Reserved O:s.1/10 through 1/15
IMPORTANT
To issue a discrete block command, set only 1 bit in
words 4 and 5. If the SLC Servo Module finds more
than one bit set in words 4 and 5 (except as noted
earlier), an error is reported to the SLC processor.