Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 29)

Positioning with Allen-Bradley PC
Chapter 4
4Ć5
moves at the final velocity some distance
decelerates to zero velocity (at which time it has reached the
programmed endpoint)
Move Values
Each move block can specify several values. The servo positioning
assembly executes the move based on these items you enter:
endpoint
acceleration
final feedrate
deceleration
When you select a deceleration value, the 1771-ES expander
automatically calculates the point at which the deceleration must begin.
You can combine several single moves like that of Figure 4.5 to form a
moveset. Figure 4.6 shows an example that consists of four moves.
Move 1 starts at position coordinate 0 and ends at position coordinate 2.
Move 2 continues axis motion to position coordinate 5. Move 3 continues
to position coordinate 7. Move 4 then causes the axis to reverse direction
and move back to position 0. The axis stops after it returns to its initial
starting position. A drawing like that of Figure 4.6 is a moveset profile.
You can use such profiles as an aid in programming axis motion.
Figure 4.6
Moveset Profile with All SingleĆstep Moves
Rate +
Rate Ć
Move 4
Position
Move 1 Move 2 Move 3
1 2 3 4 5 6 7 8
11011
0