Rockwell-automation 1771-QA Stepper Positioning Assembly User Manual Manuale Utente Pagina 89
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4–11Example Programs
Publication 1771-UM002A–EN–P – May 2000
Position
Number
1
Function
Word
Description
Equivalent
Word
2
055 466 Final Rate zero (ignored by stepper controller
module).
056 467 Decel Time 1.0 seconds (only used if needed for
controlled stop).
057 - 058 470 - 471 Final Position 19,200 pulses. The position where
the final rate is zero.
059 472 SMCW C000 hex. This begins the return
move, move 10.
060 473 Ramp Time 2.0 seconds to reach final rate in
reverse
061 474 Final Rate 2000 pulses/second in reverse.
062 475 Decel 3.0 seconds required value in last
move.
063 , 064 476, 477 MS. LS Position 000,000 pulses (starting position).
1
Position number of the data monitor display of FFM 0033.
2
Equivalent words in file A of FFM 0033.
Ladder Diagram 1-Axis Program
An example ladder diagram program for a 1-axis profile is presented
in Figure 4.4. A description of each rung follows:
Rungs 1 and 2
These rungs provide a controlled stop. When bit 110/15 is true, bit
500/06 (moveset control word, stop bit) is true and bit 500/07
(moveset control word, decel/inst bit) is true. The stepper controller
module will perform a controlled stop using the decel value in the
move being processed at the time the stop command is received.
Rung 3
This rung provides a reset (i.e. clears all status and position
information) to re-initialize the stepper controller module. When bit
112/03 is true, bit 500/04 (moveset control word, reset bit) is true.
Therefore, the controller module is rest.
Rung 4
This rung is used to start the positioning profile. When bit 110/14 is
true, bit 500/00 (moveset control word, start bit) is true. Execution
of the positioning profile begins.
Rung 5
This rung provides an initialized preset. When bit 110/16 is true, bit
502/17 (most significant preset word, bit 17) is true. Therefore, a
preset is performed.
- Positioning 1
- Assembly 1
- Allen-Bradley 1
- Important User 2
- Information 2
- Table of Contents 3
- Table of Contentsii 4
- Example Programs 5
- CSA Hazardous Location 5
- Approval 5
- Table of Contentsiv 6
- 7
- Understand Compliance to 8
- European Union Directives 8
- 1–3Introduction 9
- 1–4 Introduction 10
- Assembly and Installation 11
- Power Supply 12
- Considerations 12
- Pulse Output Expander 13
- Table 2.A 14
- Figure 2.2 14
- Output Format (S1) 15
- Input Logic (S2) 16
- Expander Module Address (S3) 16
- Switch Assembly S3 Expander 17
- ON OFF OFF 1 17
- OFF ON OFF 2 17
- ON ON OFF 3 17
- Diagnostic Indicators 18
- Installation 19
- Compatibility 21
- Module Specifications 21
- Pr ogramming and Operation 23
- Move Definition 24
- Positioning Modes 25
- MS Preset Word 30
- Not Used (Must be zero) 31
- 17 10 07 00 36
- Move Block 39
- • Single Move Control Word 39
- • Move Data 39
- Status Block 42
- • Status Word 42
- • Position Word 42
- Block Transfer 47
- Programming 47
- Programming Considerations 52
- , bit 13 54
- Table 3.A 56
- Size of Data Files 56
- Handshaking 57
- 13 Command Verify 00 59
- • Program length = 2K words 65
- Application 66
- Resonant Frequency 76
- Table 3.C 77
- Output Accuracy 77
- Table 3.D 77
- Ramp and Decel Time Accuracy 77
- Minimum Move Time 78
- Example Pr ograms 79
- Programming a 1-Axis Profile 80
- Example 1-Axis Program 83
- HEXADECIMAL DATA MONITOR 85
- FILE-TO-FILE MOVE 85
- POSITION: 001 85
- 4–8 Example Programs 86
- 4–9Example Programs 87
- Table 4.A 87
- Ignored in this example 88
- 4–11Example Programs 89
- 4–12 Example Programs 90
- 4–14 Example Programs 92
- 3-Axis Program 93
- Programming a 3-Axis 96
- 4–19Example Programs 97
- Example 3-Axis Program 98
- MS Preset 104
- 4–36 Example Programs 114
- 4–37Example Programs 115
- 4–38 Example Programs 116
- Operational Summary 117
- 4–42 Example Programs 120
- Tr oubleshooting 121
- 5–2 Troubleshooting 122
- Table 5.A 122
- Power-Up Troubleshooting 122
- Troubleshooting 124
- Illegal Bit Combinations 125
- 5–6 Troubleshooting 126
- Specifications 127
- CSA Hazar dous Location 129
- Appr oval 129
- Worldwide representation 132
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