Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 131)

Publication 1746-6.1.2 - July 2000
8-14 Programming the SLC Processor to Run the SLC Servo Module
The example initiates an absolute move:
•
To 20.0 position units
•
At 500.0 position units per time base
•
At 100% of the maximum acceleration specified in the
configuration
The absolute move described above occurs if:
•
The module is out of Estop
•
The maximum speed configured is more than 500.0 position
units per minute
•
The axis is homed
The speed profile for the move is trapezoidal or triangular as shown
in Figure 8.5 and Figure 8.6.
Figure 8.5 Trapezoidal
Figure 8.6 Triangular
Velocity
Trapezoidal velocity profiles
with programmable acceleration/
deceleration pulse rates.
Time
0
0
Velocity
Time
0
0