Rockwell Automation Allen-Bradley Ultra3000

Rockwell Automation Publication 2198-RM003B-EN-P - November 2020 91
Chapter 6 Application Conversion
• Set PR Command2 Data (position command: 4000) by explicit
message ‘Set Attribute Single (16), Class 15, Instance 402, Attribute 1,
UDINT Value (4000)’.
4. Execute the Indexing function by doing the following:
• Set the drive to Servo On by explicit message ‘Set Attribute Single (16),
Class 15, Instance 215, Attribute 1, INT Value (1)’.
• Set the drive to Servo Off by explicit message ‘Set Attribute Single (16),
Class 15, Instance 215, Attribute 1, INT Value (-1)’.
• Trigger Homing by explicit message ‘Set Attribute Single (16), Class 15,
Instance 300, Attribute 1, UINT Value (0)’.
• Trigger PR Command1 by explicit message ‘Set Attribute Single (16),
Class 15, Instance 300, Attribute 1, UINT Value (1)’.
• Stop the PR Command by explicit message ‘Set Attribute Single (16),
Class 15, Instance 300, Attribute 1, UINT Value (1000)’.
• Get the status of PR Command by explicit message ‘Get Attribute
Single (14), Class 15, Instance 300, Attribute 1’.