Rockwell Automation Publication 520-UM001K-EN-E - August 2021 227
Appendix E Encoder/Pulse Train Usage and Position StepLogic Application
Bit 1 “Find Home” causes the drive to find home at the next start
command. Deactivate this bit after completing the homing routine.
Bit 2 “Hold Step” overrides other inputs and causes the drive to remain
at its current step (running at zero speed once it reaches its position)
until released.
Bit 3 “Pos Redefine” resets the home position to the current position
of the machine. Deactivate this bit after completing the homing
routine.
Bit 4 “Sync Enable” holds the existing frequency when A571 [Sync
Time] is set to enable speed synchronization. When this bit is
deactivated the drive will accelerate to the new commanded frequency
based on A571 [Sync Time].
Bit 5 “Traverse Dis” disables the traverse function when this bit is
active.
Bit 6 “Logic In 1” provides an identical function and is logically ORed
with setting 24 “Logic In 1” for t062
, t063, t065...t068 [DigIn TermBlk
xx]. It can be used to move through the StepLogic functions (speed or
position) using comms control without requiring actual digital input
transitions.
Bit 7 “Logic In 2” provides an identical function and is logically ORed
with setting 25 “Logic In 2” for t062
, t063, t065...t068 [DigIn TermBlk
xx]. It can be used to move through the StepLogic functions (speed or
position) using comms control without requiring actual digital input
transitions.
L200
...L214 [Step Units x]
All of the position steps can be written to while the drive is running. The
changes will take place at the next move. For example, if step 0 is over-written
while the drive is moving to step 0, the drive will move to the previous
commanded position at step 0. The next time the drive is commanded to
return to step 0 it will proceed to the new position. One possible use of this
capability is when an application requires full control of the movement by a
controller external to the drive. The StepLogic program might be written to
jump from step 0 back to step 0 when Input 1 is active. The controller could
write any desired position to step 0 and then toggle the input 1 bit of A560
[Enh
Control Word] to cause the drive to move to the new position. This allows
almost unlimited flexibility and can be used with absolute or incremental
moves.
Setup Notes The RA computer tool (Connected Components Workbench software) can
make setup of the positioning functions much easier. See the latest versions
for additional tools or wizards, which can aid in the setup.
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