Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 136)

Publication 1746-6.1.2 - July 2000
Programming the SLC Processor to Run the SLC Servo Module 8-19
The Run Blend Move Profile ends if any one of the following occurs:
•
Move reaches the end point of the last move in the move
profile.
•
The SLC processor cancels the move. The Cancel Move bit is
used to cancel the positioning component of the move. The
Incremental Position command is not active while it is in the run
blend move profile.
•
Estop occurs.
•
The SLC processor sends another move from the mutually
exclusive move set.
Planning the Run Blend Move Profile Command
Figure 8.9 shows a typical ladder program block diagram that initiates
a Run Blend Move Profile 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.
Figure 8.9 Run Blend Move Command Block Diagram
The table below contains data for a typical Run Blend Move. The
example terminates a move and initiates a blend move.
Word 0 1 2 3 4 (Command) 5 6 (Profile #)
N31:0 16 0 0 0 0 0 1