Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 148)

Publication 1746-6.1.2 - July 2000
Programming System Variables 9-5
After the Set Retract Position is executed, the position is valid for
performing the Retract Position operation if the following conditions
exist:
•
Axis is homed
•
Specified speed is greater than the maximum axis speed if the
speed for the move is limited to the maximum axis speed.
Typical Set Retract Position Move Data Tables
Before executing a Set Retract move, set Source B for the Equal
instruction in Figure 9.1 to 4. A Set Retract Position command to set
the command position to –20.0 is initiated if the float data table is:
And the integer data table is:
Using the Preset Position Command
The Preset Position command sets the current command position
equal to the specified preset position. Preset Position parameters for
word 5, bit 3 appear in the table below.
1
s = Slot number for the SLC Servo Module.
The absolute position for the axis is set equal to preset position plus
the signed following error.
The preset position operation can only be performed when:
•
The module is out of Estop
•
There is no motion in progress
•
The axis has been homed
Word 0 (Accel/Decel) 1 (Velocity) 2 (Position) 3 4 5
F27:0 1.0 50.0 –20.0
Word 0 1 2 3 4 5
N32:0 0 0 0 0 0 4
Block Command Parameters
Location
1 Format Possible Values Default
Bit Specifications O:s.4 Bits 0000 0000 0000 0000 0
Preset Position O:s.5 Bits 0000 0000 0000 1000 0
Position O:s.6-O:s.7 Float –axis travel limit to
+axis travel limit 0.0