Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 127)

Formatting and Interpreting Data Blocks
Chapter 7
7Ć45
101 (axis 2), or 110 (axis 3) that is the moveset that you want to
normally execute first.
2. The moveset that contains the escape move must contain no other
moves. The escape moveset thus contains only one move, and a next
moveset pointer that identifies the moveset that you want to normally
execute first.
Figure 7.32
Moveset Profiles Ć Showing Alternating Moveset IDs
Rate
Axis 1
Moveset Block 1
ID 001
Moveset Block 2 Moveset Block 3
Position
NOTE: Moveset block ID is in bits 12, 11, and 10 of moveset control word.
11016
Axis 2
Axis 3
Rate
Rate
ID 100 ID 001
Moveset Block 1
ID 010
Moveset Block 2 Moveset Block 3
ID 101 ID 010
Moveset Block 1
ID 011
Moveset Block 2 Moveset Block 3
ID 110 ID 011
Position
Position
3. The escape moveset block cannot be executed as part of a sequence
of moveset blocks.