Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 134)

Publication 1746-6.1.2 - July 2000
Programming the SLC Processor to Run the SLC Servo Module 8-17
The example initiates a speed move:
•
At 10 position units per timebase
•
At 100% of the maximum acceleration specified in the
configuration
The speed move occurs if:
•
The module is out of Estop
•
The maximum speed configured is more than 10 position units
per minute
Using the Monitor Move Command
The monitor move command allows you to move the axis by external
means with the following error set to 0 and the position monitored
and updated. Monitor move parameters for word 4, bit 3 appear in the
table below.
1 s = Slot number for the SLC Servo Module.
Essentially, this bit places the SLC Servo Module in open loop.
The monitor move ends if any one of the following occurs:
•
SLC processor cancels the move.
•
Estop occurs.
•
SLC processor sends another move from the mutually exclusive
move set.
Planning a Monitor Move
Figure 8.8 shows a typical ladder program block diagram that initiates
a Monitor Move from the SLC processor. Other moves are initiated by
setting appropriate values in the data tables and copying the data to
the appropriate module output words.
Block Command Parameters
Location
1 Format Possible Values Default
Monitor Move O:s.4 BITS X000 0000 0000 1000 0
More Bit Specifications O:s.5 BITS 0000 0000 0000 0000 0
IMPORTANT
The Monitor Move cancels a move in progress and
affects the Incremental Position command
component. This command is ignored if the system
is in open loop.