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MOTION CONTROL
2
17
Manual, Relative, and Absolute Moves (continued)
Manual Moves (continued)
As shown below, a Manual Moves begins at the programmed Starting Speed, accelerates at the programmed
rate to the Programmed Speed and continues until a stop condition occurs. If it is a Controlled Stop condi-
tion, the SD17060E will decelerate the motor to the starting speed and stop without losing position. If it is an
Immediate Stop condition, the motion stops immediately and the position becomes invalid.
It is possible to change the speed of a Manual Move without stopping the motion. The Programmed Speed,
Acceleration, and Deceleration parameters can be changed during a Manual Move. When the Programmed
Speed is changed, the motor will accelerate or decelerate to the new Programmed Speed using the new accel-
erate/decelerate parameter values. If you write a Programmed Speed to the SD17060E that is less than the
starting speed, the Manual Move will continue at the Starting Speed.
Figure 2.9 Manual Move
Controlled Stop Conditions
h
The Manual Move Command bit is reset to “0”.
h
A positive transition on an input configured as a Stop Manual Move and Capture Encoder Position
input.
h
You toggle the Hold Move control bit in the Network Input Data. The use of the Hold Move and
Resume Move bits is explained in the
Immediate Stop Conditions
h
The Immediate Stop bit makes a 0
p
1 transition in the Network Input Data.
h
A positive transition on an input configured as a E-Stop Input.
h
A CW/CWW Limit Switch is reached.
Relative Moves
To start a Relative Move you must specify the values of the Acceleration/Deceleration parameters, the Pro-
grammed Speed, and the number of counts, or position offset, to travel. A positive position offset value will
cause clockwise motion, while a negative offset value will cause counter-clockwise motion.
Two relative moves of 7,500 steps are shown below. The first is with a programmed Acceleration and Decel-
eration rates that allow the move to reach the Programmed Speed. The second move is with low acceleration/
deceleration rates that do not allow the move to reach the Programmed Speed before deceleration must occur.
Figure 2.10 Relative Moves
SP
E
E
D
POSITION
Starting Speed
Change in
Parameters
Change in
Parameters
Controlled
Stop Condition
SP
EE
D
POSITION
Starting Speed
Programmed Speed
5,000
12,500
20,000
7,500 Counts
7,500 Counts
