Rockwell Automation 1771-QB Linear Pos. - Manual (Page 28)

Positioning with the Linear Positioning
Module
Chapter 3
3Ć4
Figure 3.4
Axis Movement with Velocity Curve Smoothing
50004
Velocity
Time
Final
Velocity
Start 0 Finish
Constant
Velocity
Acceleration Deceleration
Final
Accel
Time
Acceleration
Start
Finish
0
Final
Decel
Deceleration
There are three ways to specify module axis motion: by setpoints, by jogging or
by motion blocks. All motion must be started using the command block and/or
hardware inputs.
Setpoints
The module must have the axis controller in auto mode if you are using setpoint
moves. You can switch between modes using the auto/manual bit in the
command block or the auto/manual discrete input.
Important: The auto/manual bit and the auto/manual input must both be high
to enter auto mode.
In the auto mode, you position the actuator by commanding desired setpoints
using the command block. You can:
define up to 12 setpoints through the setpoint block. You can define the 13th
setpoint within the command block.
specify acceleration, deceleration, and velocity for each setpoint move.
Commanding Motion