Rockwell Automation 1746-QS,D17466.19 SYNCHRONIZED AXES MODULE - Manual (Page 33)

5–7
Publication 1746-6.19 March 1998
Jogging the Axes
In the sample program:
– Commands for jogging axis 1 are stored in N12:24-29 (to advance)
and N12: 30-35 (to retract).
– Jog “pushbutton” addresses are B3:0/3 (advance) and B3:0/4 (retract).
When either jog “pushbutton” is pressed:
– extend and retract limits are copied into the jog command position
words in the N files
– the corresponding N file is copied to the output word to the module
This provides a target position at the end of travel in each direction.
When the jog “pushbutton” is released, zero is copied into the jog
command speed word, allowing the axis to decelerate to a stop and
unlatch the jog command.
You cannot be in automatic mode when attempting a jog, and you cannot
be jogging when you attempt to enter automatic mode.
Important: If you intend to use this sample program on a live machine
(module NOT in simulate mode), be sure that you have:
– stored valid motion profiles in N12 files
– initialized the module with valid configuration parameters such as
axis limits, scale, offset, and feedforwards
| AXIS 1 and 2 STATE 2 |
| |
| This example uses different motion profile words (stored in N12:24-35) |
| than used by the ones for the state machine example (rungs 4-10). |
| |
| Axis 1 Jog Extend |
| (Jog Pushbutton |
| + interlocks Oneshot Jog Advance Limit |
| B3:0 B13:4 +COP–––––––––––––––+ |
|––+–––––––] [–––––––––––+–––[OSR]––––––––––––––––––––––––+–+COPY FILE +–+–|
| | 3 | 7 | |Source #N11.3| | |
| | | | |Dest #N12:28| | |
| | Axis 1 Jog Retract | | |Length 1| | |
| | (Jog Pushbutton | | +––––––––––––––––––+ | |
| | + interlocks) | | | |
| | B3:0 | | Jog Retract Limit | |
| +––––––] [––––––––––––+ | +COP–––––––––––––––+ | |
| 4 +–+COPY FILE +–+ |
| |Source #N11:4| |
| |Dest #N12:34| |
| |Length 1| |
| Run State +––––––––––––––––––+ |
| Axis 1 Jog Extend Machine Oneshot |
| (Jog Pushbutton Example Axis is jogging Storage |
| + interlocks AUTO_MODE AXIS JOGGING Bit AXIS1_MODE |
| B3:0 B3:0 B13:3 B13:4 +COP–––––––––––––––+ |
|–––––––––] [––––––––––––––]/[––––+––––––]/[––––––––[OSR]–––+COPY FILE +–+–|
| 3 14 | 0 4 |Source #N12.24| | |
| | |Dest #O:2.0| | |
| | |Length 6| | |
| | +––––––––––––––––––+ | |
| | | |
| | Axis is jogging | |
| | AXIS_JOGGING | |
| | B13:3 | |
| +––––––––––––––––––––––––––––––––(L)–––––––––––+ |
| 0 |