Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 95)

APPLYING THE MODULE 5-9
5.7 Velocity
The following example illustrates the software necessary to
use the axis in the velocity mode. Three examples are
provided, one each for turning velocity on, changing the
velocity while the drive is active, and turning velocity off.
7991 !
7992 Turn on velocity mode
7993 !
7994 ! FDBK_SCALING = encoder counts/engineering unit
7995 ! SPD = velocity (in engineering units)
7996 ! ACCEL = acceleration (in engineering units)
7997 ! DECEL = deceleration (in engineering units)
7998 FAULT@ = fault status
7999 !
8000 MODES%=MODES% AND 0AFH
8005 IF SPD < 0. THEN MODES%=MODES% OR 01 OH \SPD=-SPD
8047 REM
8048 REM Issue VELOCITY command to axis
8049 REM
8050 CMD_VEL!=SPD*FDBK_SCALING*65.536
8055 CMD_ ACC!=ACCEL*FDBK_SCALING*.065536
8060 CMD_DEC! =DECEL*FDBK_SCALING*.065536
8065 MODES%=MODES% OR 4
8070 FAULT@= (FAULTS% AND 037FH) < > 0
8075 RETURN
8100 !
8294 !
8295 ! Change velocity while drive is running
8296 !
8297 ! FDBK_SCALING = encoder counts/engineering unit
8298 ! SPD = velocity (in engineering units)
8299 !
8300 IF SPD < 0. THEN SPD=-SPD
8305 CMD_VEL!=SPD*FDBK_SCALING*65.536
8310 CMD66%=0100H \GOSUB 25000
8315 RETURN
8400 !
8497 !
8498 ! Turn off velocity mode
8499 !
8500 MODES%=MODES% AND 0BBH
8505 RETURN