Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 144)

146 Rockwell Automation Publication 2098-UM001G-EN-P - February 2011
Chapter 4 Configuring the Ultra5000 Drive
Understanding the Motion
Branch The Ultra5000 drive's Motion branch is the parent to the branches – Jog, Move,
Gear and Cam – that are the sources of position commands that generate motion
for the Ultra5000 drive.
The following diagram illustrates the generation of the position command that is
sent to the position regulator. Each of the three sources is independent. If a source
is the only position command source, it operates alone. If there a multiple
position command sources, they are added together in the order set forth in these
diagram. The resulting composite position command is the sum of the position
commands from the three different sources:
Composite Position Command = PMOVE + PJOG + PGEAR + PCAM
You can copy the Motion branch and paste it into another Ultra5000 drive.
Because a drive can contain only one Motion branch, pasting a Motion branch
into a drive overwrites and replaces the recipient drive's pre-existing Motion
branch.
Except for Copy and Paste, no parameters, status, or commands are associated
with the Motion item.
Toggle Bookmark Set or remove a bookmark (a blue dot) in a selected line of code
for a source (.c) or header (.h) file.
Next Bookmark Locate the next bookmark (a blue dot) appearing in a selected
line of code for a source (.c) or header (.h) file.
Previous Bookmark Locate a bookmark (a blue dot) that appears above the cursor in
the selected source (.c) or header (.h) file.
Clear All Bookmarks Remove all bookmarks (blue dots) that have been set in a source
(.c) or header (.h) file.
Command Description
Move Jog Gear Cam
Composite
Position
Command
Ratchet
Encoder
PCMD
PMOVE PJOG PGEAR PCAM
+ + + +