Rockwell Automation 1746-QS,D17466.19 SYNCHRONIZED AXES MODULE - Manual (Page 31)

5–5
Publication 1746-6.19 March 1998
| |
| Reset the state machine for all axes if not in auto mode. |
| In state 0, the auto mode state machine does not write to the module’s I/O. |
| |
| Run state |
| machine |
| example |
| AUTO_MODE AXIS1_NEXT_STATE |
| B3:0 +FLL–––––––––––––––+ |
|–––]/[–––––––––––––––––––––––––––––––––––––––––––––––––––––––+FILE FILL +–|
| 14 |Source 0 | |
| |Dest #N7:4 | |
| |Length 4 | |
| +––––––––––––––––––+ |
| |
| Copy next state to state machine. |
| This technique avoids race conditions. |
| AXIS1_NEXT_STATE |
| +COP–––––––––––––––+ |
|–––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––+COPY FILE +–|
| |Source #N7:4 | |
| |Dest #N7:0 | |
| |Length 4 | |
| +––––––––––––––––––+ |
| AXIS 1 and 2 STATE 1 |
| |
| Use motion profile words (mode, accel, decel, speed, and command) stored in |
| N12:0-5 (axis 1) and N12:12-17 (axis 2). |
| Wait for IN-POSITION bit to go high. Then set NEXT STATE to 2. |
| |
| Oneshot |
| AXIS1_STATE storage Bit AXIS1_MODE |
| +EQU–––––––––––––––+ B3:1 +COP–––––––––––––––+ |
|––+EQUAL +––+–––[OSR]––––––––––––––––––––––+–+COPY FILE +–+–+–|
| |Source A N7:0 | | 0 | |Source #N:12.0| | | |
| | 3<| | | |Dest #O:2.0| | | |
| |Source B 1 | | | |Length 6| | | |
| | 1<| | | +––––––––––––––––––+ | | |
| +––––––––––––––––––+ | | | | |
| | | AXIS2_MODE | | |
| | | +COP–––––––––––––––+ | | |
| | +–+COPY FILE +–+ | |
| | | |Source #N12:12| | | |
| | | |Dest #O2:8| | | |
| | | |Length 6| | | |
| | | +––––––––––––––––––+ | | |
| | | | | |
| | | Last command | | |
| | | has not been | | |
| | | acknowledged | | |
| | | AXIS_WAIT_ACK | | |
| | | B13:0 | | |
| | +––––––––(L)–––––––––––+ | |
| | 0 | |
| | Last command ACTUAL POSITION is | |
| | has not been within IN POSITION | |
| | acknowledged units of COMMAND | |
| | AXIS_wAIT_ACK POSITION AXIS1_NEXT STATE | |
| | B13:0 I/2 +–+MOV–––––––––––––––+ | |
| +–––––––]/[––––––––––] [–––––––––+–+MOVE FILE +–+ |
| 0 64 | |Source 2 | | |
| | | 2<| | |
| | |Dest N7:4 | | |
| | | 3<| | |
| | +––––––––––––––––––+ | |
| | | |
| | AXIS2_NEXT STATE | |
| | +MOV–––––––––––––––+ | |
| +–+MOVE FILE +–+ |
| |Source 2 | |
| | 2<| |
| |Dest N7:5 | |
| | 3<| |
| +––––––––––––––––––+ |
| |