Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 176)

154 Motion • Introduction
Publication 1398-PM601A-EN-P — October 2000
TUTORIAL
Motion
Introduction
Position commands that cause motion can be generated from several sources with the ULTRA Plus or
IQ. The figure below illustrates the generation of the position command that is sent to the position regu-
lator. Each of four sources is independent and may run simultaneously. The resulting composite position
command is the sum of the position commands from the four different sources.
PCMD = PGEN + PJOG + PEXT + PCAM
PGEN is the position from the profile generator. The profile generator is used by MOVD, MOVP, DV,
and DIF instructions. MOVD commands generate incremental distance moves of a specified length.
MOVP commands generate moves to a specified position. DV and DIF instructions are used to con-
MOVD or
MOVP or
DV or
DIF
Jog or
MOVV
Encoder 2 or
Step and Direction
Electronic Gearing
Gear =
( +/- ) 0 - 32,767
1 - 32,767
Programmable
Slew Rate Limit
Cam Profiles
Encoder 2 or
Step and Direction
+ Feedrate +
Composite
Position
Command
PCMD
PEXT GPOS
PJOG
PGEN
PCAM