Rockwell Automation Publication 520-UM001K-EN-E - August 2021 223
Appendix E Encoder/Pulse Train Usage and Position StepLogic Application
L190...L197 [Stp Logic Time x] are the parameters that define the time the drive
will remain in each corresponding step if that step is time-based. For example,
if L192
[Stp Logic Time 2] is set to 5.0 seconds and that step is time-based, the
drive will remain in Step 2 for 5.0 seconds. Note that this is the total time in
that step, not the time at that position. Therefore, it will include the time
needed to accelerate, run, and decelerate to that position.
L180
...L187 [Stp Logic x] are the parameters that allow additional flexibility and
control various aspects of each step when a positioning mode is selected that
utilizes the StepLogic functions. Note that in Positioning mode these
parameters have a different function than when used for normal velocity Step
Logic. Each of the 4 digits controls one aspect of the each position step. The
following is a listing of the available settings for each digit:
A415 [Preset Freq 5] L185 [Stp Logic 5] L210 [Step Units 5]
A416
[Preset Freq 6] L186 [Stp Logic 6] L212 [Step Units 6]
A417
[Preset Freq 7] L187 [Stp Logic 7] L214 [Step Units 7]
IMPORTANT
The default value for A410 [Preset Freq 0] is 0.00 Hz. This value needs to
be changed or the drive will not be able to move during Step 0.
Frequency Source Step Source Position Source
Logic for next step Digit 1
Logic to jump to a different step Digit 2
Different step to jump Digit 3
Step settings Digit 4
Not Used
Velocity Control Settings (Digit 4)
Required
Setting
Accel/Decel
Param. Used
StepLogic
Output State
Commanded
Direction
0 Accel/Decel 1 Off FWD
1 Accel/Decel 1 Off REV
2 Accel/Decel 1 Off No Output
3 Accel/Decel 1 On FWD
4 Accel/Decel 1 On REV
5 Accel/Decel 1 On No Output
6 Accel/Decel 2 Off FWD
7 Accel/Decel 2 Off REV
8 Accel/Decel 2 Off No Output
9 Accel/Decel 2 On FWD
A Accel/Decel 2 On REV
b Accel/Decel 2 On No Output
Settings (Digit 3)
Setting Description
0Jump to Step 0
1Jump to Step 1
2Jump to Step 2
3Jump to Step 3
4Jump to Step 4
5Jump to Step 5
6Jump to Step 6
7Jump to Step 7
8 End Program (Normal Stop)
9 End Program (Coast to Stop)
AEnd Program and Fault (F2)
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