Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 136)

Formatting and Interpreting Data Blocks
Chapter 7
7Ć54
Table 7.C
SingleĆStep/Continuous and Run/Halt Combinations
Move
Bit 17
0=SS
1=Cont
Bit 16
0=Run
1=Halt
Command
Combination Axis Motion
1 0 0 SingleĆStep 1. Axis decelerates at the programmed rate for move 1. It reaches
Run zero velocity at the programmed endpoint for move 1.
2. Immediately after stopping, the axis begins executing move 2.
3. Single Step requires the axis to be at zero velocity at the programmed endpoint.
4. Run allows the axis to start executing move 2 without waiting for a go command in the motion
control block.
5. Compare moves 3 and 4, continuous/run.
Dashed lines on the move profile show how moves 1 and 2 would blend if move 1 were continuĆ
ous/run.
2 0 1 Halt 1. The axis decelerates at the programmed rate for move 2. It reaches zero velocity at the proĆ
grammed endpoint for move 2, then stops and waits.
or 2. Execution of the next move begins only after a motion command is received in the motion control
block.
1 1 3. The halt command has priority over both the single step and run commands. Consequently, the
axis stops at the programmed endpoint and waits for a go command. Single step or continuous
commands have no effect when the halt command is programmed.
3 1 0 Continuous 1. The axis moves at the programmed final rate to the programmed endpoint, then immediately
begins executing move 4 by accelerating to the move 9 final rate.
Run
2. Compare move 2, single step/run and move 2, continuous/halt and move 4.
4 1 0 Continuous 1. The axis decelerates from the programmed final rate for
Run move 4 so it reaches the final rate for move 5 at the endpoint programmed for move 4. The axis
then immediately begins execution of move 5 at the programmed final rate.
2. Compare move 3, for which the final rate of the next move is higher than the final rate for move
3.
3. Dashed lines from move 4 or move 5 on figure show execution if move 4 were single step/run or
halt.
5 1 0
or
Continuous
Run
or
1. Because move 6 is in the opposite direction, the axis decelerates at the rate programmed for
move 5 so it reaches zero velocity at the programmed endpoint. Execution of move 6 begins
immediately. In this case, execution is the same for both continuous and single step commands.
0 0 SingleĆStep
Run
6 0 1 Halt 1. The axis decelerates at the programmed rate so that it stops at the programmed endpoint.
or
or
1 1 2. When on bit 16 has priority over bit 17. SingleĆstep or Continuous has no effect on this move.
3. No further axis motion occurs until a command is received in the motion control block.