Rockwell Automation 1771-QB Linear Pos. - Manual (Page 155)

Sample Application Programs
Chapter 10
10Ć11
This application program illustrates how to use a module to control the motion
of a single axis using motion blocks. (See Chapter 9.) Figure 10.9 shows the
movement profile for this program. Five motion segments describe axis
movement. Segments 14 through 17 move the axis in one direction, and
segment 18 returns it to its original position and triggers the first motion
segment (#14). The solid movement profile line indicates the actual axis
movement. The dotted profile lines show the movement profiles of each motion
segment if its motion were not interrupted by the triggering of the subsequent
movement profile. When motion segment 14’s trigger conditions are satisfied,
programmable OUTPUT 1 is pulsed for 200 ms. When motion segment 17’s
trigger conditions are satisfied, programmable OUTPUT 2 is latched high, and
when motion segment 18’s trigger conditions are satisfied, programmable
OUTPUT 2 is latched low.
Figure 10.9
Axis Profile for Motion Block
50096
VELOCITY
(in/s)
0
Motion Segment #16
- desired position: 14"
- local velocity: 2 in/s
- acceleration: 2 ips/s
- deceleration: 1 ips/s
- INPUT 1 trigger active
- next motion segment: #17
Motion Segment #17
- desired position: 20"
- local velocity: 3 in/s
- acceleration: 3 ips/s
- deceleration: 1 ips/s
- INPUT 2 trigger active
- next motion segment: #18
Motion Segment #18
- desired position: 0"
- local velocity: 5 in/s
- acceleration: 5 ips/s
- deceleration: 1 ips/s
- INPUT 1 AND position (0")
triggers active
- next motion segment: #14
Discrete INPUT 1
AND Position
trigger (0")
Motion Segment #14
- desired position: 5"
- local velocity: 5 in/s
- acceleration: 4 ips/s
- deceleration: 1 ips/s
- position trigger active (3")
- next motion segment: #15
Motion Segment #15
- desired position: 10"
- local velocity: 3 in/s
- acceleration: 1 ips/s
- deceleration: 1 ips/s
- velocity trigger active (1 in/s)
- next motion segment: #16
Position
trigger
(3")
Velocity
trigger
(1 in/s)
Discrete
INPUT 1
trigger
Discrete
INPUT 2
trigger
#14 #15
#16
#17
2" 4" 6" 8" 10" 12" 14" 16" 18" 20"
5
-5
#18
Position (in)
Application Program #2