Rockwell Automation 57C422B 2 Axis Servo Module User Manual

Page 116

H-2

2-Axis Servo Module M/N 57C422B

where:

nnnnn - BASIC statement number. This number may range
from 1-32767.

SYMBOLIC_NAME! - A symbolic name chosen by the user
and ending with (!). This indicates a LONG INTEGER data
type and all references will access registers "r" and "r+ 1 ".

SYMBOLIC_NAME% - A symbolic name chosen by the user
and ending with (%). This indicates an INTEGER data type
and all references will acces register “r”.

SYMBOLIC_NAME@ - A symbolic name chosen by the
user and ending with (@). This iridicates a BOOLEAN data
type and all references will access bit number "b" in register
"r."

SLOT - Slot number that the module is plugged into. This
number may range from 0-15.

BIT - Used with boolean data types only. Specifies the bit in
the register that is being referenced. This number may range
from 0-15.

Sample Configuration Task

The following is a sample configuration for the X axis of a
module located in slot 8. Note that version 3.0 or later
Programming Executive software allows you to enter the
variable names and comments below on a customized form
and does not require a separate task.

1000

IODEF

ENCODER_SETUP%[

SLOT =8,

1010

IODEF

DRIVE_SETUP%[

SLOT =8,

1020

IODEF

SWITCHES%[

SLOT =8,

1030

IODEF

PGAIN%[

SLOT =8,

1040

IODEF

IGAIN%[

SLOT =8,

1050

IODEF

VGAIN%[

SLOT =8,

1060

IODEF

FGAIN%[

SLOT =8,

1070

IODEF

DBCOMP%[

SLOT =8,

1080

IODEF

MAX_FOLL_ERR%[

SLOT =8,

1090

IODEF

MAX_VEL_ERR%[

SLOT =8,

1100

IODEF

IN_TOLERANCE%[

SLOT =8,

1110

IODEF

HOME_SPDI[

SLOT =8,

1120

IODEF

CMD_POSI[

SLOT =8,

1130

IODEF

CMD_VELI[

SLOT =8,

1140

IODEF

CMD_ACC![

SLOT =8,

1150

IODEF

CMD_DECI[

SLOT =8,

1160

IODEF

GEAR_RATIO![

SLOT =8,

1170

IODEF

MAX_VOLTS%[

SLOT =8,