Allen-Bradley 1756 ControlLogix - Page 12

Table of contents
12 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Chapter 8
Definition of Jerk ............................................................................................................. 551
Choose a Profile ................................................................................................................ 551
Velocity Profile Effects .................................................................................................... 553
Tune an S-Curve Profile ................................................................................................. 553
Chapter 9
Motion Error Codes (.ERR) .......................................................................................... 557
Handle Motion Faults ..................................................................................................... 568
Motion Attributes ............................................................................................................ 569
Understand Motion Status and Configuration Parameters .................................... 608
Troubleshoot Axis Motion ............................................................................................ 608
Chapter 10
CAM Structure ................................................................................................................. 627
CAM_PROFILE Structure ........................................................................................... 627
MOTION_GROUP Structure .................................................................................... 628
MOTION_INSTRUCTION Data Type ................................................................. 630
OUTPUT_CAM Structure .......................................................................................... 632
OUTPUT_COMPENSATION Structure............................................................... 633
Chapter 11
Structured Text Syntax ................................................................................................... 635
Structured Text Components: Assignments .............................................................. 636
Structured Text Components: Expressions ................................................................ 638
Use arithmetic operators and functions ...................................................................... 640
Use relational operators .................................................................................................. 641
Use logical operators ........................................................................................................ 642
Use bitwise operators ....................................................................................................... 643
Determine the order of execution ................................................................................. 644
Structured Text Components: Instructions ............................................................... 644
Structured Text Components: Constructs ................................................................. 645
Character string literals ................................................................................................... 646
IF_THEN .......................................................................................................................... 648
CASE_OF ......................................................................................................................... 651
FOR_DO ........................................................................................................................... 653
WHILE_DO .................................................................................................................... 655
REPEAT_UNTIL ........................................................................................................... 658
Structured Text Components: Comments ................................................................ 660
Program a velocity profile
and jerk rate and tune an
S-Curve Profile
Motion Error Codes, faults,
and attributes
Overview of motion-related
data types
Overview of Structured Text
Programming