Rockwell Automation 1771-QB Linear Pos. - Manual (Page 133)

Advanced Features
Chapter 9
9-2
Important: All segments in a motion block, and the programmable I/O
word, become valid as soon as they are downloaded to the module. The
one exception is a downloaded segment corresponding to the currently
active motion segment. In that case, the active segment must complete its
profile or meet its trigger conditions before the new segment becomes
valid. You must ensure that the programmable controller uses the block
transfer write toggle bit in the status block to accurately load the motion
blocks because the module returns no status bits to indicate the current
programmable I/O configuration or the currently loaded motion segments.
Figure 9.1
Motion Block Word Assignments
50084
Up to
56 words
Motion block control word
Motion segment control word 1
Motion segment control word 2
(MS) Desired position
(LS) Desired position
Local velocity
Local acceleration
Local deceleration
Trigger velocity or (MS) trigger position
(LS) Trigger position
Motion segment control word 1
Motion segment control word 2
(MS) Desired position
(LS) Desired position
Local velocity
Local acceleration
Local deceleration
Trigger velocity or (MS) trigger position
(LS) Trigger position
Motion segment control word 1
Motion segment control word 2
(MS) Desired position
(LS) Desired position
Local velocity
Local acceleration
Local deceleration
Trigger velocity or (MS) trigger position
(LS) Trigger position
Programmable I/O Control Word
1st motion
segment
:
Note: A maximum of 6 motion segments can be specified in one motion
block. In total, the module can hold up to 114 motion segments per axis.
.
.
.
2nd motion
segment
.
.
.
nth motion
segment
Optional
.
.
.