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Motion-RM002 - Rockwell Automation

1. If ERR is And EXERR is Then Cause Corrective Action 13 Varies An operand is outside its range ia EXERR is the number of the operand that is out of range The first operand a if EXERR 4 then check the Speed EXERR Operand 0 Axis 1 Motion Control 2 Move Type 3 Position 4 Speed 54 1 The coordinate system has a Maximum Click the Properties for the coordinate system and set a Maximum Deceleration of 0 Deceleration 0 or more An axis in the coordinate system has a 1 Open the Properties for the axis Maximum Deceleration of 0 2 Use the EXERR value to see which axis has the Maximum Deceleration of 0 3 The axis that you are moving via the MAM instruction has a decel rate of 0 MAM Changes to Motion Status Bits If the Move Type is And Merge is Then the Instruction Changes These Bits Bit Name State Meaning NOT Absolute Master Offset or Disabled MoveStatus TRUE Axis is Moving NEE Enabled MoveStatus TRUE Axis is Moving JogStatus FALSE Axis is no longer Jogging GearingStatus FALSE Axis is no longer Gearing Absolute Master Offset or Incremental Master Offset MasterOffsetMoveStatus TRUE Axis is Offset a JogStatus FALSE Axis is no longer Jogging GearingStatus FALSE Axis is no longer Gearing 120 Rockwell Automation Publication MOTION RM002E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 MAM Example Move
2. Bit Name State Meaning AccelStatus FALSE Axis is not Accelerating DecelStatus FALSE Axis is not Decelerating MoveStatus FALSE Axis is not Moving JogStatus FALSE Axis is not Jogging GearingStatus FALSE Axis is not Gearing HomingStatus FALSE Axis is not Homing StoppingStatus FALSE Axis is not Stopping PositionCamStatus FALSE Axis is not Position Camming TimeCamStatus FALSE Axis is not Time Camming PositionCamPendingStatus FALSE Axis does not have a Position Cam Pending TimeCamPendingStatus FALSE Axis does not have a Time Cam Pending GearingLockStatus FALSE Axis is not in a Gear Locked condition PositionCamLockStatus FALSE Axis is not in a Cam Locked condition DirectVelocityControlStatus FALSE Axis is not under Direct Velocity Control DirectTorqueControlStatus FALSE Axis is not under Direct Torque Control MASD Example When the input conditions are true the controller forces axis into the shutdown operating state 52 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 Relay Ladder MASD Motion Axis Shutdown Axis AxisO E Motion Control MASD_2 Vo Structured Text MASD Axis0 MASD_1 Rockwell Automation Publication MOTION RM002E EN P July 2015 53 Chapter 1 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Motion Axis Shutdown Reset Use the Motion Axis Shutdown MASR
3. Bit Name State Meaning Gearing Lock Status TRUE Axis has finished Clutch and locked in GearingStatus TRUE Axis is Gearing MAG Example When the input conditions are true the controller provides electronic gearing between axis2 and axis1 Relay Ladder MAG Motion Axis Gear Slave Axis i Master Axis i a Motion Control Direction Ratio Slave Counts Master Counts Master Reference Ratio Format Clutch Enabled Accel Rate 50 Accel Units Units per sec2 Structured Text MAG Axis0 Axis1 MAG_3 3 Ratio_3 0 100 100 Actual Real Enabled 50 Unitspersec2 132 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Change Dynamics MCD Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Use the Motion Change Dynamics MCD instruction to selectively change the speed acceleration rate or deceleration rate of a move profile or a jog profile in process IMPORTANT Ifyou puta value of 0 for the Speed any motion commands in process will terminate and will not function as a feedhold limiting the current axis to zero speed Operands The MCD instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder CD Motion Change Dynamics EN Axis SS Motion Control DN gt Motion Type Change Speed ER Speed Change Accel Accel Rate Change Decel Decel Rate Change Accel Jerk Accel Jerk
4. Enableln N A Enabletn is always set The instruction executes instruction execution See the following figure postscan The rung condition out is set to false No action taken Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC EN bit 0 Examine EN bit EN bit is set EN bit 1 Instruction detects an error EN bit remains set Rung condition out remains set to true EN bit remains set DN bit is set ER bit remains clear IP bit is set PC bit remains clear Rung condition out is set to true Processing runs to completion in motion task Watch event occurred No Process aborted EN bit remains set DN bit remains clear ER bit is set IP bit remains clear PC bit remains clear Rung condition out is true EN bit remains set DN bit remains set ER bit remains clear IP bit is cleared PC bit is set Rung condition out is not affected EN bit remains set DN bit remains set ER bit remains clear IP bit is cleared PC bit remains clear Rung condition out is not affected SS Rockwell Automation Publication MOTION RMO02E EN P July 2015 Chapter 4 221 Chapter 4 222 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC MAW Error Codes See Error Codes E
5. Structured Text MASR Axis0 MASR_1 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 Motion Direct Drive On MDO Use the Motion Direct Drive On MDO instruction in conjunction with motion modules that support an external analog servo drive interface for example the 1756 MO02AE or 1784 PMO02AE servo module This instruction activates the module s Drive Enable enabling the external servo drive and also sets the servo module s output voltage of the drive to the specified voltage level The value for Drive Output can be specified in Volts or of maximum axis Output Limit Operands The MDO instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MDO Motion Direct Drive On Axis J Motion Control Drive Output Drive Units Table 18 MDO Relay Ladder Descriptions Operand Data Type Description Axis Tag Name of the axis to perform operation on Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Drive Output REAL Voltage to output in of servo Output Limit or in Volts Drive Units Boolean Units in which the Drive Output value is interpreted Rockwell Automation Publication MOTION RMO02E EN P July 2015 59 Chapter1 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Structured Text
6. This Operand Has These Options That You Enter as Text Or Enter as a Number StopMode programmed 0 faststop 1 fastdisable 2 MOTION_INSTRUCTION Structure Table 74 MGS MOTION_INSTRUCTION Structure Description Enumerations Description EN Enable Bit 31 It is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 It is set when the group Programmed Stop has been successfully initiated for all axes in the group ER Error Bit 28 It is set to indicate that the instruction detected an error such as if you specified an unconfigured group IP In Process Bit 26 It is set on positive rung transition and cleared after the Motion Group Stop is complete PC Process Complete Bit 27 It is set after all the axes in group have been successfully brought to a stop according to each axis Programmed Stop Mode configuration Description With the Stop Mode parameter set for Programmed the MGS instruction brings motion for all of the axes in the specified group to a stop according to the configured Programmed Stop Mode for each axis If the axis has both single axis motion moves and coordinated moves occurring the MGS stops the single axis motion by using the axis maximum deceleration rate and stops the coordinated axes motion by using the coordinate system s maximum deceleration rate A trapezoidal
7. 300 Motion Control A eea a oe EEO ee A E Ei 301 Motion Direct Command and the MDAC Instruction 304 Arithmetic Status Plagsoicstncsoveeskeit teeaveseeyaunouse else 304 Fault Conditions sissies sakilcon crs e a aA S A 304 Perot E E E EEEE E E ATE E E 304 Master Driven and Time Driven Modes 0 0 0c eee eeeees 305 Changing the Master fads cic ssaetes ve sel okey taeda hays oleat 306 Actions Taken When Stopping Shutdown Instructions are Executed on the Slave Axis 000 000s 307 Actions Taken When Stopping Shutdown Instructions are Executed on the Master Axis 0 005 308 Master Driven Speed Control Parameters for Single Axis Motion Instructions 014 ss50 lt niseteeceoeens sake 309 Acceleration and Deceleration Enumerations 04 318 Jerk Enumerations diane ee Sia ae Sea taitote 319 Time Based Planning knits t eien ccd sty ea EE marae 323 18 Rockwell Automation Publication MOTION RM002E EN P July 2015 Tune an S curve Profile Analyzing Axis Motion Error Codes ERR for Motion Instructions Motion related Data Types Structures Structured Text Programming Table of Contents Status Bits for Motion Instructions MAM MATC MAJ When MDAC is Active 06 326 Chapter 7 Procedure crei r ein eG E Bae fre Hee yea eta 328 Additional RESOUL COS acs icon acetone dtc tema ereere esata Win eee 329 Chapter 8 Axis Accelerates While Stopping tcryesciis Gadd aioe ee eee 331
8. DECEL The DECEL bit is set as expected during motion It is independent of Master Axis deceleration The DECEL bit on the instruction driving the Slave Axis is set as the Slave Axis is decelerating to its commanded speed as a result of the master axis deceleration In addition The DECEL bit of the slave axis is set when it is decelerating due to not being at its programmed deceleration This bit is insensitive to deceleration occurring on the Master Axis However the DecelStatus bit which is in the MotionStatus word of the Slave Axis not the instruction driving the slave axis is set or cleared based on changes in the programmed velocity of the Slave Axis TrackingMaster Indicates that the Slave Axis is tracking the Master Axis Only used in Master Driven mode When an instruction is initiated in Master Driven mode the Slave Axis accelerates to the speed that its programmed for MDSC mode This bit is insensitive to slave acceleration deceleration of the master axis The Tracking Master is set when the acceleration is complete in MDSC mode This means that the Slave Axis is synchronized to the Master Axis This bit is insensitive to the accel decel of the master axis The Tracking Master bit is cleared when any of the following occurs on the Slave Axis When the Slave Axis starts to either accelerate or decelerate for any reason for example for an MCD or an MAS being issued e When the Slave Axis is relinked to another Master
9. Master Position Command position available only when the master axis Axis Type is a Servo or Virtual axis is the desired or commanded position of the master axis Because the command position does not incorporate any associated following error or external position disturbances it is a more accurate and stable reference for camming When camming to the commanded position of the master the master axis could be commanded or moved manually while in disabled state to cause corresponding motion on the slave axis Master Direction Normally the Master Direction parameter is set to Bidirectional default However when Forward Only is selected for Master Direction the slave axis tracks the master axis in the forward direction of the master axis When Reverse Only is selected the slave axis tracks the master axis in the reverse direction of the master axis If the master axis changes direction the slave axis does not reverse direction but stays where it was when the master reversed This Unidirectional feature of position cams is used to provide an electronic slip clutch which prevents the cam motion generator from moving backward through the cam profile if the master reverses direction When the master axis again reverses resuming motion in the desired direction the slave axis picks up again when the master reaches the position where it initially reversed In this way the slave axis maintains synchronization with the master w
10. Operand Data Type Format Description Axis AXIS_CIP_DRIVE Tag Motion Axis of data type AXIS_CIP_DRIVE only Motion control MOTION_INSTRUCTION Tag Structure used to control execution of the motion instruction Speed SINT Immediate or Tag Defines the initial speed for the INT DirectVelocityControlStatus DINT Command attribute REAL Speed units SINT Immediate Which units do you want to use INT for the speed DINT 0 of Maximum 1 Units per Sec Structured Text MDS Axis MotionControl Speed Unitspersec Rockwell Automation Publication MOTION RMOO2E EN P July 2015 69 Chapter1 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR The operands are the same as those for the relay ladder MDS instruction MOTION_INSTRUCTION Structure Table 24 MDS MOTION_INSTRUCTION Enumerations Descriptions Enumerations EN Enable Bit 31 Description It is set when the rung makes a false to true transition and remains set until the rung makes a true to false transition and drive messaging is complete DN Done Bit 29 It is set when the drive has been successfully enabled and remains set until the rung makes a false to true transition ER Error Bit 28 It is set when the instruction encounters an error condition The error condition can be a direct result of the initial conditions or can result during the instruction s execution The bit remains set until the rung makes a false to true transition
11. Absolute Position to move to Incremental Distance to move Rotary Shortest Path Position to move to Enter a positive value that is less than the Position Unwind value Rotary Positive Rotary Negative Absolute Master Offset Absolute offset position Incremental Master Offset Incremental offset distance Speed REAL Immediate Tag Speed to move the axis in Speed Units 0 Units per sec 1 of Maximum 2 Seconds 3 Units per MasterUnit 4 Master Units Speed Units DINT Immediate Which units do you want to use for the Speed 0 Units per sec 1 of Maximum Accel Rate REAL Immediate Tag Acceleration rate of the axis in Accel Units Accel Units DINT Immediate Which units do you want to use for the Accel Rate 0 Units per sec 1 of Maximum 2 Seconds 3 Units per MasterUnit2 4 Master Units 112 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Table 41 MAM Relay Ladder Descriptions Continued Operand Decel Rate Type REAL Format Immediate Tag Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Description Deceleration rate of the axis in Deceleration Units Decel Units DINT Immediate Which units do you want to use for the Decel Rate 0 Units per sec 1 of Maximum 2 Seconds 3 Units per MasterUnit2 4 Master Units
12. Cam Profile EJIP Slave Scaling T FP Master Scaling Execution Mode Execution Schedule Master Lock Position T Cam Lock Position Master Reference Master Direction lt lt Less Table 60 MAPC Relay Ladder Operand Descriptions Operand Type Format Description Slave Axis AXIS_CIP_DRIVE Tag The name of the axis that the cam profile is applied to Ellipsis launches Axis Properties dialog box AXIS_VIRTUAL AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Master Axis AXIS_CIP_DRIVE Tag The axis that the slave axis follows according to the cam profile Ellipsis launches Axis Properties dialog AXIS_ FEEDBACK box If Pending is selected as the Execution Schedule then Master Axis is ignored AXIS_CONSUMED AXIS_VIRTUAL AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Motion Control MOTION_INSTRUCTION Tag Structure used to access block status parameters Direction DINT SINT Immediate Cams can be configured to add or subtract their incremental contribution to the slave axis command Tag position Control over this behavior is via the Direction parameter and is relative to the direction of the slave axis to the master axis 0 Same The slave axis position values are in the same sense as the master s When Same is selected or entered as the Direction for the MAPC instruction the slave axis position values computed from the cam profile are added to the command position of the slave axis This is the most co
13. ER bit remains clear Rung condition out is not affected Function complete EN bit remains set DN bit remains clear ER bit remains clear Rung condition out is not affected See Error Codes ERR for Motion Instructions on page 345 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 41 Chapter 1 42 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR MSO Extended Error Codes Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions The following Extended Error Codes help to pinpoint the problem when the MSO instruction receives a Servo Message Failure 12 error message Table 9 MSO Extended Error Codes Extended Error Code decimal Associated Error Code decimal Meaning Object Mode conflict 12 SERVO_MESSAGE_FAILURE 12 Axis is in shutdown Permission Denied 15 SERVO_MESSAGE_FAILURE 12 Enable input switch error sercos Device in wrong state 16 SERVO_MESSAGE_FAILURE 12 ate Not correct for action sercos MSO Changes to Status Bits Meaning ServoActStatus TRUE Axis is in Servo Control state with the servo loop active DriveEnableStatus TRUE The axis drive enable output is active Example When the input conditions are true the controller enables the servo drive and activates the axis servo loop configured by axis1 Relay Ladder
14. Profile DINT Immediate Select the velocity profile to run for the move 0 Trapezoidal 1 S curve Accel Jerk Decel Jerk REAL REAL Immediate Tag Immediate Tag Jerk Units DINT Immediate The instruction only uses the jerk operands if the Profile is S curve You must always fill them in however e Accel Jerk is the acceleration jerk rate for the axis e Decel Jerk is the deceleration jerk rate for the axis Use these values to get started e Accel Jerk 100 e Decel Jerk 100 e Jerk Units 2 of Time You can also enter the jerk rates in these Jerk Units e Units per sec 0 of Maximum 1 When the MAM instruction is configured for S curve operation Jerk parameters have a 1 of Time minimum value Setting a MAM to S curve with 0 of Time Jerk values will not produce a Trapezoidal profile Merge DINT Immediate Do you want to turn all current axis motion into a pure move governed by this instruction regardless of the motion instructions currently in process e NO Choose Disabled 0 e YES Choose Enabled 1 Merge Speed DINT Immediate If Merge is Enabled which speed do you want to move at Speed of this instruction Choose Programmed 0 e Current speed of the axis Choose Current 1 Lock Position REAL Immediate Position on the Master Axis where a Slave axis should start after the move has been initiated on the Slave Maste
15. Change Decel and Change Decel Jerk are set to Yes This lets Decel Rate Servo_Axis_Vars C Manual_Jog_Decel the axis use the Decel Rate and Decel Jerk of the instruction 20 0 Pj Decel Units Units per sec2 Change Decel Jerk Yes PC Decel Jerk Servo_Axis_Yars C Manual_Jog_Decel_Jerk 100 0 Jerk Units of Time lt lt Less Rockwell Automation Publication MOTION RMOO2E EN P July 2015 109 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Jog Forward and Reverse with S curve Structured Text When the servo loop is enabled And Jog_Fwd_PB or Jog_Rev_PB turn on Set Jog_Direction Run Servo_Axis at Servo_Axis_Vars C Manual_Jog_Speed When Jog Fwd_PB and Jog_Rev_PB are off stop Servo_Axis The SFC starts the Manual_Jog step when either Jog_Fwd_PB or Jog_Rev_PB turn on ml Wa it_ForManual_Jog_Input A P1 qualifier limits the action to the first scan of the step Tran_004 Servo_Axis ServoAdctionStatus amp Jog _Fwd_PB OR Jog Rev_PB Set the direction GD Set_Jog_Dire ction Tf Jog Fwd PB Then Jog Direction 0 KRlsif Jog Rey PB Then Jog Direction 1l Manual_Jog P41 Start Manual_Jog Start the jog AJ Servo Axis Servo_Axis MI Manual Jog Jog Direction Servo_Axis Vars C Manual Jog Speed Unitspersec Servo_Axis Vars C Manual Jog_Accel Umitspersec2Z Servo_Axis Vars C Manual Jog Decel Mmitspersec2 SCurve Serv
16. IP In process Bit 26 Itis set when the instruction has been successfully initiated and remains set until one of the following occurs e another MDS instruction supersedes the initial instruction e another instruction terminates the initial instruction e a drive fault occurs STATE Description The MDS instruction Reflects the state of the instruction 0 Sending a request to the drive module to turn the drive on 1 Waiting for the drive enable and servo action status bits to be set e is only valid for the AXIS_CIP_DRIVE axis data type e performs a drive enable if the axis is not in the Running state e applies desired DirectVelocityControlStatus Command attribute and or the DirectTorqueControlStatus Command attributes e presents the DirectVelocityControlStatus Command attributes and or the DirectTorqueControlStatus Command attributes e is activated ona Rung False to True transition The MDS instruction is used to activate the direct control of velocity or torque for a specified axis The instruction performs an axis enable sequence and then presets the DirectVelocityControlStatus Command attribute and or the DirectTorqueControlStatus Command attribute if the selected drive supports direct control The most common usage of the MDS instruction is the flying start application where the following attributes directly control the motion dynamics e RampAcceleration e RampDeceleration e RampVelocity Posi
17. NO Choose Disabled 0 e YES Choose Enabled 1 Merge Speed DINT Immediate If Merge is Enabled which speed do you want to jog at Speed of this instruction Choose Programmed 0 e Current speed of the axis Choose Current 1 Lock Position REAL or TAG Immediate Position on the Master Axis where a Slave axis should start after the move has been initiated on the Slave for Master Driven mode Not Used for Time Driven mode 0 None Master Position Units Lock Direction 100 REAL or TAG Immediate Specifies when the Master Lock Position should be used for Master Driven mode Not Used for Time Driven mode 0 None 1 Immediate Forward Only 2 Immediate Reverse Only 3 Position Forward Only 4 Position Reverse Only Rockwell Automation Publication MOTION RM002E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Structured Text MAJ Axis MotionControl Direction Speed SpeedUnits AccelRate AccelUnits DecelRate DecelUnits Profile AccelJerk DecelJerk JerkUnits Merge MergeSpeed Lock Position Lock Direction The structured text operands are the same as the relay ladder operands MAJ Relay Ladder Operand Descriptions on page 99 for more information For the operands that require you to select from available options enter your selection as described in Table 38 Table 38 MAJ Structured Text Opera
18. PC Process Complete The Process Complete bit is set after the diagnostic test process has been successfully completed IP In Process The In Process bit is set on positive rung transition and cleared after the diagnostic test process is complete or terminated by a stop command shutdown or a servo fault AC Active The Active bit is set when a move MAJ MAM or MATC goes IP in Master Driven mode on the axis that is selected as the Slave Axis of the MDAC instruction The AC bit will be reset when all single axis motion that is being controlled by the MDAC is completed If the Slave Axis is started in Time Driven mode then the AC bit of the MDAC does not go active The IP bit of the MDAC instruction does not change at this time ACCEL The ACCEL bit is set as expected during motion It is independent of Master Axis acceleration The ACCEL bit on the instruction driving the Slave Axis for example MAM on the Master Axis is set as the Slave Axis accelerating to its commanded speed as a result of the master axis acceleration In addition The ACCEL bit of the slave axis is set when it s accelerating due to not being at it s programmed acceleration This bit is insensitive to acceleration occurring on the Master Axis However the AccelStatus bit which is in the MotionStatus word of the Slave Axis not the instruction driving the slave axis is set or cleared based on changes in the programmed velocity of the Slave Axis
19. When the cam profile array has been completely calculated the MCCP instruction sets the first cam profile element s Status value to being calculated or 1 and then sets the Status value of all other cam profile elements to being calculated As the calculation proceeds individual cam profile members Status values are set to calculated or 2 When all elements in the cam profile array have been calculated the first cam profile element s Status value is also set to calculated Rockwell Automation Publication MOTION RMOO2E EN P July 2015 153 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV However ifan MCCP instruction is executed with an initial cam profile Status value of 1 then the cam profile is currently being calculated by another MCCP instruction and the MCCP instruction errors If the Status value is gt 2 then the cam profile is being actively used by an MAPC or MATC instruction process and the MCCP instruction errs Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions MCCP Error Codes See Error Codes ERR for Motion Instructions on page 345 MCCP Extended Error Codes Extended Error Codes provide additional instruction specific information for the Error Codes that are not specific enough to help pinpoint the problem When the MCCP instruction receives an Illegal Cam Length 26
20. e Sets the enable EN bit e Clears the done DN bit e Clears the error ER bit The controller executes the instruction completely If the controller Does not detect an error when the instruction The controller sets the DN bit executes Detects an error when the instruction executes The controller sets the ER bit and stores an error code in the control structure 2 The next time the rung becomes false after either the DN or ER bit sets the controller clears the EN bit 3 The controller can execute the instruction again when the rung becomes true Figure 1 Immediate Type Instructions Rung Conditions EN o LT FR Scan Scan Scan Scan rung rung rung rung true true false true Rockwell Automation Publication MOTION RMOO2E EN P July 2015 27 Preface Message Type Instructions Message type motion instructions send one or more messages to the servo module Examples of message type instructions include the following Motion Direct Drive On MDO instruction Motion Redefine Position MRP instruction Message type instructions work as follows 1 When the rung that contains the motion instruction becomes true the controller does the following e Sets the enable EN bit e Clears the done DN bit e Clears the error ER bit The controller begins to execute the instruction by setting up a message request to the servo module The remainder of the instru
21. pos 2 the loop The statements in a REPEAT UNTIL loop are always executed at least once The statements in a WHILE DO loop might never be executed UNTIL pos 101 OR structarray pos value targetvalue end_repeat Rockwell Automation Publication MOTION RM002E EN P July 2015 385 AppendixC Structured Text Programming Example 2 If you want this Move ASCII characters from a SINT array into a string tag In a SINT array each element holds one character Stop when you reach the carriage return 1 Initialize Element_number to 0 2 Count the number of elements in SINT_array array that contains the ASCII characters and store the result in SINT_array_size DINT tag 3 Set String_tag element_number the character at SINT_array element_number 4 Add 1 to element_number This lets the controller check the next character in SINT_array 5 Set the Length member of String_tag element_number This records the number of characters in String_tag so far 6 Ifelement_number SINT_array_size then stop You are at the end of the array and it does not contain a carriage return 7 Ifthe character at SINT_array element_number 13 decimal value of the carriage return then stop Otherwise go to step 3 Enter this structured text element_number 0 SIZE SINT_array 0 SINT_array_size Repeat String_tag DATA element_number SINT_array element_number element
22. 2 of Time 3 Percent of time 4 Units per Master Units 5 Percent of Time Master Driven MCD Axis MotionControl Motionlype ChangeSpeed Speed ChangeAccel AccelRate ChangeAccelJerk AccelJerk ChangeDecelJerk ChangeDecel DecelRate SpeedUnits AccelUnits DecelUnits JerkUnits The operands are the same as those for the relay ladder MCD instruction See Table 49 MCD Relay Ladder Descriptions on page 133 For the operands that require you to select from available options enter your selection as described in Table 50 Table 50 MCD Structure Text Operand Descriptions This Operand Has These Options That You Enter as Text Or Enter as a Number Axis No enumeration Tag MotionControl No enumeration Tag Motionlype jog 0 move 1 ChangeSpeed no 0 yes 1 Speed No enumeration Immediate Tag ChangeAccel no 0 yes 1 AccelRate No enumeration Immediate Tag ChangeDecel no 0 yes 1 Decel Rate No enumeration Immediate Tag ChangeAccelJerk No enumeration 0 No 1 Yes Rockwell Automation Publication MOTION RMOO2E EN P July 2015 135 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Table 50 MCD Structure Text Operand Descriptions Continued This Operand Has These Options That You Enter as Text Or Enter as a Number AccelJerk No enumeration Immediate Tag You must always enter a value for the Accel operand This instruction only uses
23. 20 0 Accel Units Units per sec2 Decel Rate Manual_Jog_Decel 20 0 Decel Units Units per sec2 Profile Curve Accel Jerk Manual_Jog_Accel_Jerk 100 0 Qecel Jerk Manual_Jog_Decel_Jerk 100 0 of Time Disabled Speed Programmed Use the same deceleration in both instruction Merge lt lt Less Jog_PB sLocal 4 Data 1 0 My_Axis Motion Control Stop_Jog oN Stop Type Jog Set Change Decel to Yes This lets the Be Change Decel Yes ER axis use the Decel Rate of the instruction 20 0 Decel Units Units per sec2 Change Decel Jerk Yes Decel Jerk Stop_Jog_Decel_Jerk 100 0 of Time Decel Rate atte Jerk Units lt lt Less Rockwell Automation Publication MOTION RMO02E EN P July 2015 Analyzing Axis Motion Chapter 8 Table 154 Axis Reverse Direction Corrective Action If you re still seeing an axis reversal make sure bit 1 of the DynamicsConfigurationBits for the axis is on Revision 16andlater 1 Usea Get System Value GSV instruction to see if the algorithm is on Sv Get System Value Class Name AXIS Instance Name My_Axis Attribute Name DynamicsConfigurationBits Dest DynamicsContigBits 2 0000_0000_0000_0000_0000_0000_0000_0011 Name of the axis DINT tag to store the value Bit 1 should be on 2 If bit 1 is off turn it on SSY Set System Value Class Name AXIS N
24. 298 Table 129 describes the Ladder and Structure text Table 129 Example MDAC Instruction Parameter Descriptions Parameter Description Slave1 Slave1 is the axis that is being controlled by the Master Axis when the motion planner is in Master Driven mode Master Master is the axis that slave1 axis will follow MDAC MDAC1 is the control tag for the MDAC instruction All The Master Axis will control all the single axis move types for example MAM MAJ and MATC that are executed on the Slave Axis when a single axis motion instruction is programmed in Master Driven mode Command Indicates that the Commanded Position of the Master axis is used as the position reference Rockwell Automation Publication MOTION RMOO2E EN P July 2015 MDSC Functionality Chapter 6 Structured Text MDAC SlaveAxis MasterAxis MotionControl MotionIype MasterReference MDAC Group MotionControl The operands are the same as those for the relay ladder MDAC instruction You have the option to browse for enumerations in the Structured Text Editor We MDAC slave MOTION_INSTRUCTION The MDAC instruction is used to select a single axis as a Master Axis and a single axis as a Slave Axis The MDAC instruction connects a Master and Slave Axis for a MAM MAJ and MATC instruction When an MDAC is executed goes IP the specified Slave Axis in the MDAC instruction is logically geared with the designated Mast
25. Change Decel Jerk Decel Jerk Speed Units Accel Units Decel Units Jerk Units Table 49 MCD Relay Ladder Descriptions Operand Type Format Description Axis AXIS_CIP_DRIVE Tag Name of the axis to perform operation on AXIS_VIRTUAL AXIS_ GENERIC AXIS_ SERVO AXIS_SERVO_DRIVE Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Motion type DINT Immediate Motion profile jog or move to change 0 jog 1 move Rockwell Automation Publication MOTION RMO02E EN P July 2015 133 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Table 49 MCD Relay Ladder Descriptions Continued Operand Type Format Description Change speed DINT Immediate Set to enable a change of speed 0 no 1 yes Speed REAL Immediate The new Speed to move the axis in or Speed Units Tag Change Accel DINT Immediate Set to enable an acceleration change 0 no 1 yes Accel rate REAL Immediate The acceleration rate of the axis in or Acceleration units Tag Change Decel DINT Immediate Set to enable a deceleration change 0 no 1 yes Decel rate REAL Immediate The deceleration rate of the axis in or Deceleration units Tag The axis could overshoot its target position if you reduce the deceleration while a move is in process Change Accel Jerk SINT INT or DINT Immediate 0 No 1 Yes Accel Jerk SINT INT DINT or REAL Immediate You must always en
26. EN bit 1 EN bit remains set EN bit remains set ereasan DN bit remains clear Rung condition out gi ER bit is set remains set to true AP bit remains dear Rung condition out is true EN bit remains set DN bit is set ER bit remains clear LIP bit is set Rung condition out is set to true Processing runs to completion in motion task EN bit remains set DN bit is set ER bit remains clear Ha IP bit is cleared compiere Rung condition out is not affected EN bit remains set DN bit remains set Process Yes ER bit remains clear aborted IP bit is cleared Rung condition out is not affected 130 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 MAG Error Codes See Error Codes ERR for Motion Instructions on page 345 MAG Extended Error Codes Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions Use Extended Error Codes EXERR for more information about an error Table 48 MAG Extended Error Codes Description If ERR is And EXERRis Then Cause Corrective Action 11 Varies Slave or master axis is not configured Configure the axis 1 Slave 2 Master For ex
27. EN bit remains set EN bit remains set a detects an A i eae Rung condition out ie IP bit remains clear remains set to true PC bit remains clear Rung condition out is true EN bit remains set DN bit is not affected ER bit remains clear LIP bit is set PC bit remains clear Rung condition out is set to true Processing runs to completion in motion task EN bit remains set DN bit is set P ER bit remains clear Toces IP bit is cleared complete PC bit is set Rung condition out is not affected EN bit remains set DN bit is set Yes ER bit remains clear Process v IP bit is cleared aborted PC bit remains clear Rung condition out is not affected 174 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 MAPC Error Codes See Error Codes ERR for Motion Instructions on page 345 MAPC Extended Error Codes Use Extended Error Codes EXERR for more information about an error Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions Table 64 MAPC Extended Error Codes Description CWERRis AndEXERRis Then Cause Corrective Action 11 Varies Sl
28. Feedback 2 The CIP axis configuration parameters that MRHD generates as output depend on the specified Hookup Diagnostic Motor Encoder Hookup Test If the Motor Encoder Test is selected the motion module enables the external drive and generates a 1 Volt per second output ramp to the drive while monitoring the encoder feedback When the axis has moved a distance greater than or equal to the configured Motor Encoder Test Increment the test voltage is set back to zero and the drive disabled The motion module then reports the direction of travel which is stored as one of the following output parameters Descriptions Returns the status of the last Run Hookup Test service on the targeted drive axis The Hookup Test Status attribute can be used to determine when the hookup test service has successfully completed Conditions can occur however that make it impossible for the drive to properly perform the operation When this is the case the test process is automatically terminated and a test error is reported that is stored in the Hookup Test Status output parameter 0 test process successful 1 test in progress 2 test process aborted 3 test process timed out 4 test process faulted 5 test failed no feedback 1 counts 6 test failed no feedback 2 counts 7 255 reserved Hookup Test Feedback USINT Direction 1 Reports the direction of axis travel during the last hookup test as detected by the
29. MDSC Invalid Slave Speed Reduction slave speed for Single Axis instructions or 10 depending on the move of the original Slave Coordinate System speed then this error will occur and the change will not be allowed The same applies when changing from Time Driven mode to MDSC mode 104 IF MDSC 2 Instructions were started in 1 Update Period therefore Jerk was a motion instruction performs either Maximized e A change in the Master Axis e A change in speed units AND if in the same update period the instruction is either forced to pause with a speed of zero or stopped with a MAS or MCS THEN the velocity profile is changed to trapezoidal and this error code is reported 105 An instruction in the coordinated motion queue is either trying to change the Master MDSC Invalid Mode Or Master Change Axis or changing the mode from MDSC mode to Time Driven mode or from Time Driven mode to MDSC mode 106 Change merge speed parameter Can not use Merge to Current when programming in time driven mode using seconds or master driven mode using master units 107 Target device does not support the requested operation service or both There is not any corrective action that can be taken 108 Coordinated System contains a multiplexed axis Motion coordinated instructions cannot contain multiplexed axes You will get an error if certain Motion Instructions overlap while Motion Stop Instructions are active In this case an instruction is actively stopping
30. Master Units New Enumeration Analogous to seconds in time based programming These rules must be followed to program the dynamics units Speed Accel Decel and Jerk of all motion instructions e When Speed is in either units sec max or seconds then the instruction is considered to be in Time Driven mode regardless of the selection of units for acceleration deceleration or jerk e When Speed is in either Master Units or in Units MasterUnit then the instruction is considered to be in Master Driven mode regardless of the selection of units for acceleration deceleration or jerk e Speed Acceleration Deceleration and Jerk must always be programmed in the same mode Time Driven or Master Driven or you get a runtime error e When speed is specified in time unit seconds the specified time is the total time of the move including acceleration and deceleration time e When speed is specified in Master distance units the specified distance is the total master distance of the move including acceleration and deceleration distance of the Master Axis Rockwell Automation Publication MOTION RMOO2E EN P July 2015 315 Chapter 6 316 MDSC Functionality This figure is an example of speed as programmed in Logix Designer application version 19 and earlier You only had one option to program speed directly as a rate in units of distance time Figure 39 Programming Rate in Logix Designer Application Version 19
31. Time Time Cam ee ee Pending Status Pending New Time Cam Configured Stopping a Cam Like other motion generators jog move gear active cams must be stopped by the various stop instructions such as the Motion Axis Stop MAS on page 82 or the Motion Group Stop MGS on page 196 Cam motion must also stop when the ControlLogix processor changes OS modes The MAS instruction in particular must be able to specifically stop the camming process This behavior should be identical to the MAS functionality that specifically stops a gearing process Rockwell Automation Publication MOTION RM002E EN P July 2015 187 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Merging from a Cam Like other motion generators jog move gear and so forth active cams must also be compliant with motion merge functionality Moves and Jogs in particular must be able to merge from active camming This behavior should be identical to the merge functionality applied to a gearing process Current New Profile Profile Axis Position Time Cam Pending Status Pending New Time Cam Configured Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions 188 Rockwell Automation Publication MOTION RM002E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapt
32. Tune an S curve Profile Chapter 7 3 Test your equipment and observe its jerk 4 Adjust the Jerk values If there is Then Which results in NOT too much jerk Reduce the of Time More Jerk Too much jerk Increase the of Time Less Jerk lt r Longer Cycle Time 5 Repeat step 3 and step 4 until you have the desired balance between smoothness and cycle time Additional Resources See the Analyzing Axis Motion section on page 331 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 329 Chapter7 Tune an S curve Profile Notes 330 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Chapter 8 Analyzing Axis Motion Use this information when you are troubleshoot some situations that could happen while you are running an axis Topic Page Axis Accelerates While Stopping 331 Axis Overshoots the Target Speed 334 Delay If a Jog Is Stopped and Restarted 336 Axis Reverses Direction When Stopped and Started 338 Axis Overshoots Its Position and Reverses Direction 342 Axis Accelerates While In some circumstances while an axis is accelerating you try to stop it and the axis Stopping Table 151 Axis Deceleration keeps accelerating for a short time before it starts to decelerate Example You execute a Motion Axis Jog MAJ instruction Before the axis get s to its target speed you execute a Motion Axis
33. Axis Overshoots the Target Speed wind ca is anaine rah eunudne vd n omens 334 Delay If a Jog Is Stopped and Restarted 0 0 cece eee eee eee 336 Axis Reverses Direction When Stopped and Started 338 Axis Overshoots Its Position and Reverses Direction 342 Appendix A Appendix B GCAM Str ctute n ee Ae hasnt team anys ake 353 CAM_ PROFILE Structure 0 ccc ccc cece eee e eens 353 MOTION_GROUP Structure 0 cc ccc cece cee ete ences 354 MOTION_INSTRUCTION MAAN ye astra oes ih soos Waa Rah iar EOE ah BY CSAs attr tae de 356 OUTPUT GAM Striictur 3 0i55 cists oa ee He ei as blebs Sale as 357 OUTPUT_COMPENSATION Structure 000 e cece eee 358 Appendix C Structured Text Syntax 14g acne re ay e es 359 Assignments nner era ann sin ee E OT E aN 360 Specify a Non retentive Assignment 4 0 4 ce feds caved ees ceeio 361 Assign an ASCII Character to a String 0 cece eee 362 EXPresSONs a5 Ss eaa a dae Bara E A dat hae pean 362 Use Arithmetic Operators and Functions 0 00 ee 363 Use Relational Operators ics cess ye dedi oe Beat we carorees 365 Use Logical Operators is ics tii su Aud Seed ieee en to49 366 Use Bitwise Oper tor a n E EEEE S 367 Determine the Order of Execution 22 4e seve ies de does eee 368 TASERUCHONS eene olarak se aci eeu seins oeuwen teas aus 369 Go nstr cts esie A hese ore e cc Sersep ain gible A E Ea 370 Key Words Reserved for Future
34. Bit 26 It is set when the Output Cam has been initiated successfully and cleared if either superseded by another Motion Arm Output Cam command terminated by a Motion Disarm Output Cam command or cam position moves beyond defined Output Cam range while execution mode is set to once PC Process Complete Bit 27 It is cleared on positive rung transition and set in once Execution Mode when cam position moves beyond defined Output Cam range SEGMENT Description It is set to the array index associated with error 36 Illegal Output Cam or error 37 Illegal Output Compensation Only the first of multiple errors is stored Internally Output Cam objects handle the Motion Planner Output Cam functionality Each Output Cam object is responsible for one output which consists of 32 output bits Each single output bit can be programmed separately with an Output Cam profile and compensated for position offset and time delay 242 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 The MAOC instruction initiates the arming of a specific Output Cam between the designated axis and output When executed the specified output cam bits are synchronized to the designated axis by using an Output Cam Profile established by the Logix Designer Output Cam Editor This relationship can be viewed as a master slave relationship with the axis representing the ma
35. Channel Z pulse the test is then complete The motion module then reports success via the Test Status aie Axis Parameter Definition Test Status Integer Status Report of the Hookup Diagnostic Test Process Test Direction Forward DINT Direction of axis travel during hookup test as seen by the motion module If due to improper hookup or some other problem with the system the axis feedback fails to detect that axis reaching the configured Motor Encoder Test Increment after moving the axis at least that distance then abort the test by using the MAS instruction and check the encoder wiring Test Status Conditions can occur that make it impossible for the control to properly perform the test operation When this is the case the test process is automatically aborted and a test fault is reported and stored in the Test Status output parameter It is also possible to manually abort a test process by using a MAS instruction which results in a test fault reported by the Test Status parameter Possible values for Test Status are shown in this table Table 122 Test Status Values Error Message Code Definition Test Success 0 Test process has been successful Test In Process 1 Test is in progress Test Aborted 2 Test Process was aborted by user Test Time out 3 Test Process has exceeded timed out 2 Seconds Test Servo Fault 4 Test Process Failed due to Servo Fault Test Increment Fault 5 Test Process Failed
36. DO 378 380 IF THEN 371 374 REPEAT UNTIL 384 386 WHILE DO 381 383 structures See data type T time based planning 323 time cam profile 395 396 time cam status 408 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 troubleshoot axis accelerates to a stop 331 axis overshoots its position and reverses direction 342 axis overshoots the target speed 334 axis reverses direction when stopped and started 338 delay if a jog stopped and restarted 336 jerk 331 343 S curve profile 331 343 using error codes 345 352 tune jerk 327 329 S curve profile 327 329 types of camming 393 Index Notes Rockwell Automation Publication MOTION RMO02E EN P July 2015 421 Index Notes 422 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical and application notes sample code and links to software service packs You can also visit our Support Center at https rockwellautomation custhelp com for software updates support chats and forums technical information FAQs and to sign up for product notification updates In addition we offer multiple support programs for installation configuration and troubleshooting For more information contact your local distributor or Rockwell Automation representative or v
37. GroupSynced 01 DINT Synchronization status Group sync status is only cleared ona group overlap or CST loss fault AxisInhibitStatus 03 DINT no tag 02 DINT Timer Event started Reserved 03 31 MotionFault DINT The motion fault bits for the group Bit Number Data Type Description ACAsyncConnFault 00 DINT Asynchronous connection fault ACSyncConnFault 01 DINT Synchronous connection fault Reserved 02 31 354 Rockwell Automation Publication MOTION RM002E EN P July 2015 Table 161 MOTION_GROUP Status and Configuration Descriptions Continued Motion related Data Types Structures Appendix B Enumerations Data Type Description ServoFault DINT The servo module fault bits for the group Bit Number Data Type Description POtrviFault 00 DINT Positive overtravel fault NOtrvlFault 01 DINT Negative overtravel fault PosErrorFault 02 DINT Position error fault EncCHALossFault 03 DINT Encoder channel A loss fault EncCHBLossFault 04 DINT Encoder channel B loss fault EncCHZLossFault 05 DINT Encoder channel Z loss fault EncNsFault 06 DINT Encoder noise fault DriveFault 07 DINT Drive fault Reserved 08 31 Bit Number Data Type Description SyncConnFault 00 DINT Synchronous connection fault HardFault 01 DINT Servo hardware fault Reserved 02 31 GroupFault DINT The fault bits for the group Bit Number Data Type Description GroupOverlapFault 00 DINT Group task
38. Hence the result ofan MGSR instruction applied to a group of motion modules is that all motion module OK relay contacts close This feature can be used to close the E Stop strings that control main power to the various drive systems and permits the customer to reapply power to the drives Executing the Instruction To successfully execute a MGSR instruction the targeted group must be configured IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 207 Chapter3 Motion Group Instructions MGS MGSD MGSR MGSP MGSR Execution Conditions Condition Ladder Diagram Action Structured Text Action prescan The EN DN and ER bits are cleared No action taken The rung condition out is set to false rung condition in is false The EN bit is cleared if either the DN or ER bit i
39. If the drive is configured to keep DC Bus power active while in the Shutdown state then the motion axis transitions through the Pre charge state to the Stopped state In the case where a Shutdown fault action is initiated by the drive in response to an exception condition that is configured to be a major fault the drive executes the Shutdown action However the axis goes to the Faulted state not the Shutdown state Similarly when the axis is in the Shutdown state and a major fault condition occurs the axis transitions to the Faulted state A Fault Reset request from the controller clears the fault and assuming the original fault condition has been removed the axis transitions to the Shutdown state A Shutdown Reset request from the controller however both clears the fault and performs a shutdown reset so assuming the original fault condition has been removed the axis transitions to the Pre charge state Axis Inhibited If you inhibit the axis the associated instance in the CIP Motion connection is eliminated and the axis state transitions to the Axis Inhibited state If this is the only instance supported by the CIP Motion connection the connection itself is closed The Axis Inhibited state is a controller only sub state of the Self test state The Axis Inhibited condition is checked during the controller Self test state as qualification for transition to the Initializing state If currently Axis Inhibited you must execute an
40. MAFR Description The MSO instruction directly activates the drive and enables the configured servo loops associated with a physical servo axis It can be used anywhere in a program but should not be used while the axis is moving If this is attempted the MSO instruction generates an Axis in Motion error The MSO instruction automatically enables the specified axis by activating the drive and by activating the associated servo loop With a non CIP axis the resulting state of the axis is referred to as the Servo Control state With a CIP axis the resulting state of the axis is referred to as the Running state The most common use of this instruction is to activate the servo loop for the specified axis in its current position in preparation for commanding motion Executing the Instruction To successfully execute a MSO instruction the targeted axis must be configured as a Servo axis If this condition is not met the instruction errors IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Te
41. MAHD Error Codes See Error Codes ERR for Motion Instructions on page 345 MAHD Extended Error Codes Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions The following Extended Error Codes help to pinpoint the problem when the MAHD instruction receives a Servo Message Failure 12 error message Table 118 MAHD Extended Error Codes Meanings Associated Error Code decimal Extended Error Code decimal Meaning SERVO_MESSAGE_FAILURE 12 No Resource 2 Not enough memory resources to complete request sercos SERVO_MESSAGE_FAILURE 12 Object Mode conflict 12 Axis is in shutdown SERVO_MESSAGE_FAILURE 12 Permission denied 15 Enable input switch error sercos SERVO_MESSAGE_FAILURE 12 Device in wrong state 16 Redefine Position Home and Registration 2 are mutually exclusive sercos device state not correct for action sercos MAHD Changes to Status Bits The MAHD instruction does not make any changes to the status bits Example When the input conditions are true the controller applies the results of a previously executed Motion Run Hookup Diagnostics MRHD instruction to axisl Relay Ladder MAHD Motion Apply Hookup Diagnostics No Axis Axis E i gt Motion Control MAHD_1 R gt Diagnostic Test Marker Observed Direction Forward Structured Text MAHD axisl axisl_MAHD marker forward
42. MDF MDS MAFR The axis remains in DirectVelocityControlStatus Command attribute or DirectTorqueControlStatus Command attribute modes until cancelled by one of the following instructions Motion Axis Stop MAS Motion Axis Shutdown MASD Motion Coordinated Shutdown MCSD Motion Group Shutdown MGSD Motion Servo Off MSF Depending on how the fault action is configured an axis fault can also cancel the MDS instruction Execution of the MDS instruction has no effect on motion group or coordinate system objects However the instruction affects axis objects as follows When the MDS instruction is initiated without errors the DirectVelocityControlStatus bit of the MotionStatus axis attribute is set indicating the DirectVelocityControlStatus bit is active on the axis The DirectVelocityControlStatus bit remains set until it is made inactive via an MAS or MASR instruction or via an axis fault Also when the MDS instruction is initiated without errors the DirectTorqueControlStatus bit attribute of the MotionStatus axis attribute is set indicating the DirectlorqueControlStatus Command attribute is active on the axis The DirectTorqueControlStatus bit remains set until it is made inactive via an MAS or MASR instruction or via an axis fault Some fault actions impact the execution of the MDS instruction Table 26 MDS Fault Actions Impact Descriptions Fault Action Description Ignore Ignore instructs
43. MOTION_INSTRUCTION Structure Table 83 MGSP MOTION_INSTRUCTION Structure Descriptions Enumerations Description EN Enable Bit 31 It is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 It is set when the group of axes have been successfully set to Shutdown state ER Error Bit 28 It is set to indicate that the instruction detected an error such as if you specified an unconfigured group Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Group Instructions MGS MGSD MGSR MGSP Chapter 3 Description The MGSP instruction synchronously latches all command and actual position values of all axes in the specified group at the time of execution The MGSP instruction takes only one parameter simply select or enter the desired axis to strobe If the targeted group does not appear in the list of available groups the group has not been configured for operation Use the Tag Editor to create and configure a new groups The MGSP instruction can be used at any time to capture a complete set of command and actual position information for all axes in the specified group This operation is often required as a precursor to computations involving position values of different axes within the group Executing the Instruction To successfully execute a MGSP instruction the targeted group must be co
44. Motion Instruction Error Codes Descriptions Continued Error Corrective Action or Cause Notes 13 Look at the extended error code EXERR for the instruction It identifies an operand Parameter Out Of Range that is outside its range An EXERR 0 means the first operand of the instruction is outside its range Example An MAJ instruction has an ERR 13 and an EXERR 3 In this case change the speed so that it s in range AJ Motion Axis Jog 0 Axis Servo_Axis 1 Motion Control Servo_Axis_Ml Run_Jog 2 Direction 0 E Speed Auto_Speed 6006 14 The instruction cannot apply the tuning parameters because of an error in therun Tune Process Error tuning instruction 15 The instruction cannot apply the diagnostic parameters because of an error in the Test Process Error run diagnostic test instruction 16 Wait until the homing process is done Home In Process Error 17 The instruction tried to execute a rotary move on an axis that is not configured for Axis Mode Not Rotary rotary operation 18 The axis type is configured as unused Axis Type Unused 19 The motion group is not in the synchronized state This could be caused by a missing Group Not Synchronized or mis configured servo module Group sync status is only cleared on a group overlap or CST loss fault 20 The axis is in the faulted state Axis In Faulted State 21 The group is in the faulted state Group In F
45. Relay Ladder This example uses the bit pattern of Reg_Sequence to step through the logic When Reg_Sequence 3 turns on 1 Move Servo_Axis the distance of Reg_Evror 2 When the move is complete multiply Reg_Sequence by 2 This turns off bit 3 of Reg_Sequence and turns on bit 4 Reg_Sequence 3 AM Motion Axis Move Axis Servo_Axis Motion Control Servo_Axis_Ml Reg_Correction_Move A Move Type of 1 Incremental move The instruction Move Type 1 moves the axis by the Position value each time it executes Position Reg_Error 026e Speed 1 Speed Units Accel Rate Units per sec 1 Accel Units Decel Rate Units per sec2 1 Decel Units Units per sec2 Profile S Curve Accel Jerk 100 Because the Profile is S curve the instruction uses the Jerk values Use tags instead of immediate values if you plan to tune the jerk at run time Decel Jerk 100 Jerk Units of Time Merge Disabled Merge Speed Programmed Servo_Axis_MI Reg_Correction_Move PC UL Multiply Source 4 Reg_Sequence 8 Source B 2 Dest Reg_Sequence 8 Rockwell Automation Publication MOTION RMO02E EN P July 2015 121 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Move Structured Text When the SFC starts the Reg_Correction step move Servo_Axis the distance of Reg_Error The P1 qualifier limits this to the
46. Servo_Axis_MI Run_Jog 0 Auto_Speed 60 06 Units per sec Servo_Axis_Vars C Auto_Accel 20 0 Units per sec2 Servo_Axis_Vars C Auto_Decel 20 0 Units per sec2 Trapezoidal 100 0 100 0 of Time Disabled Programmed lt lt Less NEQ MCD Not Equal Motion Change Dynamics EN Source A Auto_Speed Axis Servo_Axis 60 0 Motion Control Servo_Axis_MI Change_Jog DN3 Source B Auto_Speed_Last Motion Type Jog 0 0 Change Speed Yes ER Speed Auto_Speed 60 0 Change Accel No Accel Rate 0 Change Decel No Decel Rate 0 Speed Units Units per sec Accel Units Units per sec2 Decel Units Units per sec2 gt r ae Ov The NEQ and MOV instructions limit the fies MCD instruction to just one scan when Seen eae al Source Auto_Speed Auto_Speed changes 60 0 Dest Auto_Speed_Last Servo_Axis_VYars 1 Stop emo Rockwell Automation Publication MOTION RMOO2E EN P July 2015 0 0 Motion Axis Stop Axis Servo_Axis Motion Control Servo_Axis_Ml Stop_Auto DN3 Stop Type All Change Decel Yes ER Decel Rate Servo_Axis_Vars C Auto_Decel 20 0 P Decel Units Units per sec2 Change Decel Jerk Yes PC Decel Jerk Servo_Axis_Vars C Auto_Decel_Jerk 100 0 Jerk Units of Time lt lt Less 107 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Jog with Speed Change Str
47. Shutdown state The MGSD instruction takes only one parameter simply select or enter the desired group to shutdown Another action initiated by the MGSD instruction is the clearing of all motion processes in progress and a clearing of all the motion status bits Associated with this action the command also clears all motion instruction IP bits that can currently be set for each axis in the group The MGSD instruction forces the targeted group of axes into the Shutdown state One of the unique characteristics of the Shutdown state is that the OK solid state relay contact for all of the group s motion modules Open This feature can be used to open up the E Stop string s that control main power to the various drive systems Another characteristic of the Shutdown state is that any instruction that initiates axis motion for an axis within the group is blocked from execution Attempts to do so results in an execution error Only by executing one of the Shutdown Reset instructions can motion then be successfully initiated Executing the Instruction To successfully execute a MGSD instruction the targeted group must be created and configured IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed Additionally the MGSD instruction supports canceling the Motion Drive Start
48. The array must be a minimum size of 4 If the array is greater than 4 only the first four locations specified are used Valid 0 or 1 Default value 0 Table 140 Output Parameter Description Output Parameter Calculated Data Data Type REAL ARRAY or 0 MDSC Functionality Chapter 6 Description The calculated output for the Event Distance input parameter that is the Master Distance s or time measured from the beginning of the move to the Event Distance point The returned Calculated Data value is dependent on the following The instruction type that is MAM for single axis and MCLM MCCM for coordinated motion The mode of the Slave Axis that is Time Driven or Master Driven Ifsuperimposed motion is active the Calculated Data does not include any of the superimposed motion Tha voturned Calculated Date value is depended on the following modes Master Driven The returned Calculated Data parameter is the incremental delta Master position that is needed to make the Slave Axis move from the point at which Slave is locked to the Master and starts moving along the programmed path to the point where distance to go is less than the specified Event Distance If the specified data in the Event Distance is array element is 0 0 then the master i needed for the entire move to complete is returned woe viven The returned data in the Calculated Data parameter is the total time in seconds that is need
49. The axis position values in the cam profile are subtracted from the command position of the axis creating axis motion in the other direction from that implied in the original cam table or relative to the current or previous camming direction When Opposite is selected or entered as the Direction the axis position values computed from the cam profile are subtracted from the command position of the axis Thus axis motion is in the opposite direction from that implied by the original cam table That is consecutive increasing profile values result in axis motion in the negative direction and vice versa 2 Reverse The current or previous direction of the position cam is changed either from Same to Opposite or vice versa When executed for the first time with Reverse selected the control defaults the direction to Opposite Changing the Camming Direction When Reverse is selected the current or previous direction of the time cam is changed from Same to Opposite or from Opposite to Same For first time execution of a cam with Reverse selected the control defaults the direction to Opposite 3 Unchanged This allows other cam parameters to be changed without altering the current or previous camming direction When executed for the first time with Unchanged selected the control defaults the direction to Same When Unchanged is selected or entered as the Direction other time cam parameters can be changed while preserving the current or previous camming di
50. The motion controller keeps track of the master axis and slave axis positions relative to the first profile at the time of the change and uses this information to maintain synchronization between the profiles Ifan Execution Schedule of Pending is selected without a corresponding position cam profile in progress the MAPC instruction executes but no camming motion occurs until another MAPC instruction with a non pending Execution Schedule is initiated This allows pending cam profiles to be preloaded prior to executing the initial cam This method addresses cases where immediate cams would finish before the pending cam could be reliably loaded Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 After a Pending position cam has been configured the Position Cam Pending Status bit of the Motion Status word for the specified slave axis is set to 1 true When the pending new profile is initiated and becomes the current profile Position Cam Pending Status bit is immediately cleared as shown in Figure 12 Figure 12 Pending Position Cam New Profile Current Slave Profile Position Master Position z Position Cam O Pending Status Pending New Postion Cam Configured Master Position Reference The Master Reference parameter determines the master position source to link to the cam generator This sou
51. decreased while the move is decelerating or is close to the deceleration point An S curve velocity profile can overshoot if one of these occurs e maximum deceleration is decreased while the move is decelerating or close to the deceleration point or e maximum acceleration jerk is decreased and the axis is accelerating Keep in mind however that jerk can be changed indirectly if it is specified in of time For more information see Analyzing Axis Motion on page 331 Executing the Instruction This is a transitional instruction e In relay ladder toggle the rung condition each time you want to execute the instruction e In structured text instructions execute each time they are scanned Condition the instruction so that it only executes on a transition Use either of these methods Qualifier of an SFC action Structured text construct See Structured Text Programming on page 359 for more information Programming Guidelines Follow these guidelines when programming an MAM instruction Master Offset Move For a Master Offset move enter the slave axis but use master units Use an Absolute or Incremental Master Offset move to off set the master value of a position cam without actually changing the position of the master axis This shifts the position cam profile along the master axis e For Axis enter the slave axis e For Position enter the absolute offset position or incremental offset distance e For Sp
52. enter the slave axis AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Motion Control MOTION_INSTRUCTION Tag Control tag for the instruction Rockwell Automation Publication MOTION RMOO2E EN P July 2015 111 Chapter 2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Table 41 MAM Relay Ladder Descriptions Continued Operand Move Type Type DINT Format Immediate Tag Description To Use This Move Type And enter Move an axis to an absolute position Absolute 0 Move an axis a specified distance from where Incremental 1 it is now Move a Rotary axis to an absolute positionin Rotary Shortest Path 2 the shortest direction regardless of its current position Move a Rotary axis to an absolute positionin Rotary Positive 3 the positive direction regardless of its current position Move a Rotary axis to an absolute positionin Rotary Negative 4 the negative direction regardless of its current position Off set the master value of a position camto Absolute Master Offset 5 an absolute position Off set the master value of a position cam by Incremental Master Offset 6 an incremental distance See Choose a Move Type for a Rotary Axis on page 117 for more information about rotary moves Position REAL Immediate Tag Absolute position or incremental distance for the move For this Move Type Enter this Position value
53. immediate motion instructions 26 interpolated 396 interpolation 396 between adjacient points 396 jerk 319 troubleshoot 331 343 tune 327 329 units 320 jog execution of 396 K kinematics See multi axis coordinated motion instructions L linear 396 lock position 404 Logix Designer Cam Profile Editor 409 M MAPC 395 400 401 403 404 405 407 409 411 cam profile 397 415 Index 416 master 298 404 changing 306 relationship 302 stopping 308 master axis 394 404 411 execution mode 403 position values 395 time cam profile 396 master axis position 409 master axis time 409 Master Driven Axis Control 297 Master Driven Speed Control 297 MATC 401 402 403 407 409 411 cam profile 397 time cam 396 MCCP 396 397 MDAC 297 302 303 306 Master Slave relationship 297 MDAC1 298 MDS 74 MDSC 297 parameters 309 calculated data 309 313 event distance 309 instruction mode 309 lock direction 309 310 lock position 309 311 program rate 316 program time 317 synchronization of axes 297 Time Driven CAM profiles 297 mechanical 393 mechanical camming 393 message type instructions 28 mode master driven 305 time driven 305 motion immediate type instructions 26 message type instructions 28 process type instructions 29 Motion Apply Axis Tuning MAAT 32 261 267 arithmetic status flags 265 changes to status bits 267 description 263 error codes 267 execution conditions 266 fault conditions
54. instruction to transition an axis from an existing Shutdown state to an Axis Ready state All faults associated with the specified axis are automatically cleared If as a result of this instruction all axes of the associated motion module are no longer in the Shutdown condition the OK MASR 54 relay contacts for the module close Operands The MASR instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MASA Motion Axis Shutdown Reset Axis 9 Motion Control Table 16 MASR Relay Ladder Descriptions Operand Type Format Description Axis AXIS_CIP_DRIVE Tag Name of the axis to perform operation on AXIS_FEEDBACK AXIS_VIRTUAL AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Structured Text MASR Axis MotionControl The operands are the same as those for the relay ladder MASR instruction MOTION_INSTRUCTION Structure Table 17 MASR Motion_Instruction Structure Descriptions Enumerations Description EN Enable Bit 31 It is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 It is set when the axis is successfully reset from Shutdown state ER Error Bit 28 It is set to indicate that the instruction detected an error such as if you specified an u
55. of Time Merge Disabled Merge Speed Programmed lt lt Less Reduce_Deceleration CD Motion Change Dynamics EN Vi Axis My_Axis Motion Change Dynamics MCD Motion Control My_Axis_MI Change_Move DN E F F M Motion Type Move instruction that reduces the Change Speed No R deceleration of the move Speed o Change Accel No Accel Rate 0 Change Decel Yes Decel Rate 8 Speed Units Units per sec Accel Units Units per sec2 Decel Units Units per sec2 lt lt Less 342 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Analyzing Axis Motion Chapter 8 Table 155 Axis Overshoots Cause Corrective Action The axis doesn t have enough time at the new lower deceleration to stop at the target position It stops past the target position Then it corrects to get back to the target position MCD instruction changes axis overshoots axis reverses and deceleration target position returns to target position position m move starts acceleration To avoid overshooting position either e avoid decreasing the deceleration or deceleration jerk while an axis is decelerating along an S curve profile e avoid increasing the programmed speed while an axis is decelerating along an S curve profile This has the same effect as decreasing the deceleration jerk e test any changes in small increments to make sure a change doesn t cause an overshoot during normal operation Rockwell Auto
56. used to determine when the hookup test service has successfully completed Conditions can occur however that make it impossible for the drive to properly perform the operation When this is the case the test process is automatically terminated and a test error is reported that is stored in the Hookup Test Status output parameter 0 test process successful 1 test in progress 2 test process aborted 3 test process timed out 4 test process faulted 5 test failed no feedback 1 counts 6 test failed no feedback 2 counts 7 255 reserved Hookup Test Commutation Polarity Hookup Test Commutation Offset USINT Real Electrical degrees Reports if the UVW phasing of the Encoder or Hall Sensor match the phasing of the Motor If the motor and UVW commutation phasing do not match the Commutation Polarity is Normal If it is determined that the phasing for the motor and commutation device do not match this parameter reports that the Commutation direction is Inverted This value can be used to configure the Commutation Polarity attribute 0 normal 1 inverted 2 255 reserved The Hookup Test Commutation Offset reports the measured commutations offset of a PM motor during the Commutation Test This represents the value that must be applied to the motor position accumulator in order to align the Electrical Angle signal with motor stator windings This value can be used to configure the Commutation Offse
57. when the master axis reaches a specific position the slave axis moves to its specific corresponding point as defined in the cam profile s table of points Additionally a position cam profile does the following e Provides the capability of implementing non linear electronic gearing relationships between two axes e Does not use maximum velocity acceleration or deceleration limits Position cam profiles are used with Motion Axis Position Cam MAPC instructions Upon execution of this instruction the slave axis is synchronized with the master axis See Motion Axis Position Cam MAPC on page 156 for more information on how to configure the position cam profile in an MAPC instruction Rockwell Automation Publication MOTION RMOO2E EN P July 2015 395 Appendix E 396 Camming Linear and Cubic Interpolation The resultant calculated cam profiles are fully interpolated This means that if the current master position or time does not correspond exactly with a point in the cam array used to generate the cam profile the slave axis position is determined by linear or cubic interpolation between adjacent points In this way the smoothest possible slave motion is provided The MCCP instruction accomplishes this by calculating coefficients to a polynomial equation that determines slave position as a function of master position or time Each point in the cam array used to generate the position cam profile can be configured for l
58. 1768 UM001 Description Describes the necessary tasks to install configure program and operate a 1768 CompactLogix system ControlLogix System User Manual publication 1756 UM001 Describes the necessary tasks to install configure program and operate a ControlLogix system GuardLogix Controller Systems Safety Reference Manual publication 1756 RM093 Contains detailed requirements for achieving and maintaining SIL 3 with the GuardLogix controller system GuardLogix Controllers User Manual publication 1756 UM020 Provides information on configuring and programming the 1756 GuardLogix controller Integrated Motion on the Ethernet IP Network Configuration and Startup Reference Manual publication MOTION UM003 Describes how to configure an integrated motion application and to start up your motion solution by using the ControlLogix system Integrated Motion on the Ethernet IP Network Reference Manual publication MOTION RM003 Provides a programmer with details about the Integrated Motion Control Modes Control Methods and AXIS_CIP_DRIVE attributes Integrated Architecture and CIP Sync Configuration Application Technique publication IA AT003 Provides detailed configuration information on CIP Sync technology and time synchronization Kinetix 6200 and Kinetix 6500 Modular Multi axis Servo Drives User Manual publication 2094 UM002 Provides information on installing configuring starting troublesho
59. 2 Axis 1 Caused the Error ExErr 1 Axis 2 Caused the Error 66 Be sure to keep the robot in the arm solution that you configured it in You can You are attempting to fold back an articulated independent or dependent two configure the robot in either a left arm or right arm solution axis robot on itself at the quadrant boundaries 67 Change the target positions to values that are within the reach of the robot Invalid Transform Position IfX2b X2e isn t zero stay out of this region You re trying to move to a place the robot cannot reach ab X2e Xb 4X2 MCT attempted while at origin eee EME To avoid having the robot fold back on itself or extend beyond its reach joint limits are calculated internally by the firmware for Delta2D Delta3D and SCARA Delta robots If you try and configure a move that violates these limits this error occurs 348 Rockwell Automation Publication MOTION RM002E EN P July 2015 Table 156 Motion Instruction Error Codes Descriptions Continued Error Codes ERR for Motion Instructions Appendix A Error Corrective Action or Cause Notes 68 Move the joints so that the end of the robot isn t at the origin of the coordinate Transform At Origin system You cannot start the transform if the joint angles result in X1 0 and X2 0 69 Check the maximum speed configuration of the joints Max Joint Velocity Exceeded Use target positions that keep the robot from getting fully stretched or folding
60. 202 205 arithmetic status flags 203 changes to status bits 205 description 203 error codes 205 example 205 execution conditions 204 fault conditions 204 operands 202 Motion Group Shutdown Reset MGSR 31 206 209 arithmetic status flags 207 changes to status bits 209 description 207 error codes 209 example 209 execution conditions 208 fault conditions 207 operands 206 Motion Group Stop MGS 31 196 201 arithmetic status flags 199 changes to status bits 201 description 197 error codes 201 example 201 execution conditions 200 fault conditions 199 operands 196 Motion Group Strobe Position MGSP 31 210 213 arithmetic status flags 211 changes to status bits 213 description 211 error codes 213 example 213 execution conditions 212 fault conditions 211 operands 210 Motion Move Instructions Motion Axis Gear MAG 31 123 132 Motion Axis Home MAH 31 92 98 Motion Axis Jog MAJ 31 99 110 Motion Axis Move MAM 31 111 121 Motion Axis Position Cam MAPC 31 156 177 Motion Axis Stop MAS 31 82 88 Motion Axis Time Cam MATC 31 178 191 Motion Calculate Cam Profile MCCP 31 150 155 Motion Calculate Slave Values MCSV 31 192 194 Motion Change Dynamics MCD 31 133 141 Motion Redefine Position MRP 31 142 149 Motion Redefine Position MRP 31 142 149 arithmetic status flags 146 changes to status bits 148 description 143 error codes 148 execution conditions 147 fault conditions 146 opera
61. 265 operands 262 Motion Apply Hookup Diagnostics MAHD 32 278 283 arithmetic status flags 281 changes to status bits 283 description 280 Encoder Hookup test 281 error codes 283 execution conditions 282 fault conditions 281 Motor Encoder Hookup test 280 operands 278 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Arm Output Cam MAOC 31 239 255 arithmetic status flags 251 axis and module fault conditions disarm output cams 254 axis arm and cam arm positions 244 changes to status bits 254 description 242 error codes 252 execution conditions 252 fault conditions 251 latch type 245 mode compensation 250 offset and delay compensation 249 operands 239 output cam array checks 248 output compensation array checks 251 specifying output compensation 248 unlatch type 246 Motion Arm Registration MAR 31 227 235 arithmetic status flags 231 changes to status bits 235 description 229 error codes 234 execution conditions 233 fault conditions 232 rearming an MAR instruction 230 Motion Arm Watch MAW 31 216 222 arithmetic status flags 219 changes to status bits 222 description 218 error codes 222 execution conditions 220 fault conditions 219 operands 216 Motion Axis Fault Reset MAFR 31 75 79 arithmetic status flags 77 changes to status bits 78 description 76 error codes 78 example 78 execution conditions 77 fault conditions 77 operands 75 Motion Axis Gear MA
62. 28 PC 27 IP 26 AC 23 DECEL 1 ACCEL 0 EN BOOL The enable bit indicates that the instruction is enabled the rung in and rung out condition is true DN BOOL The done bit indicates that all calculations and messaging if any are complete ER BOOL The error bit indicates when the instruction is used illegally PC BOOL The process complete bit indicates that the operation is complete The DN bit sets after an instruction has completed execution The PC bit sets when the initiated process has completed IP BOOL The in process bit indicates that a process is being executed AC BOOL The Active Bit lets you know which instruction is controlling the motion when you have instructions queued It sets when the instruction becomes active It is reset when the Process Complete bit is set or when the instruction is stopped ACCEL BOOL The ACCEL bit indicates that the velocity has increased for the individual instruction that it is tied to i e jog move gearing DECEL BOOL The DECEL bit indicates that the velocity has decreased for the individual instruction that it is tied to i e jog move gearing ERR INT The error value contains the error code associated with a motion function See Error Codes ERR for Motion Instructions on page 345 STATUS SINT The status of any message associated with the motion function Message Status Description 0x0 The message was successful 0x1 The module is processing another message 0x2 The module is waiting for a respo
63. 3 IF THEN ELSIF Enter This Structured Text If sugar low limit switch low on and sugar high limit switch not high IF Sugar Low amp Sugar High THEN on then inlet valve open on Sugar Inlet 1 Until sugar high limit switch high off ELSIF NOT Sugar High THEN Sugar Inlet 0 If You Want This If tan k temperature gt 100 END_IF The tells the controller to clear Sugar Inlet whenever the controller e enters the RUN mode e leaves the step of an SFC if you configure the SFC for Automatic reset This applies only if you embed the assignment in the action of the step or use the action to call a structured text routine via a JSR instruction Example 4 IF THEN ELSIF ELSE Enter This Structured Text IF tank temp gt 200 THEN then pump slow pump fast 1 pump slow 0 pump off 0 If tank temperature gt 200 ELSIF tank temp gt 100 THEN then pump fast pump fast 0 pump slow 1 pump off 0 otherwise pump off ELSE pump fast 0 pump slow 0 pump off 1 END_IF 374 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 CASE OF Structured Text Programming Appendix C Use CASE to select what to do based on a numerical value Operands Structured Text CASE numeric_expression OF selector1 statement selectorN statement ELSE statement END_CASE IMPORTANT If you use REAL
64. AccelUnits unitspersec 0 ofmaximum 1 MAG MOTION_INSTRUCTION Structure Table 47 MAG Motion_Instruction Structure Descriptions Enumerations Description EN Enable Bit 31 It is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 It is set when axis gear has been successfully initiated ER Error Bit 28 It is set to indicate that the instruction detected an error such as if you specified an unconfigured axis IP In Process Bit 26 It is set on positive rung transition and cleared if either superseded by another Motion Gear Axes command or terminated by a stop command merge shutdown or servo fault Rockwell Automation Publication MOTION RMOO2E EN P July 2015 125 Chapter 2 126 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Description The Motion Axis Gear MAG instruction provides electronic gearing between any two axes in a specified direction and at a specified ratio Electronic gearing provides a direct edge to edge lock between the two axes no maximum velocity acceleration or deceleration limits are used The speed acceleration and deceleration of the slave axis is completely determined by the motion of the master axis and the specified gear ratio When called the specified Slave Axis is geared to the Master Axis at the specified Ratio for
65. Attempt execution with the axis in Shutdown state 11 Varies Axis is not configured Reconfigure the axis 13 Varies An operand is outside its range The EXERR is the number of the operand that is out of range The first operand is 0 For example if EXERR 3 then check the Speed EXERR Operand 0 Axis 1 Motion Control 2 Direction 3 Speed 4 Output 16 Varies Homing is in a process error The axis is executing a homing sequence 19 Varies Motion group is not synchronized Check the Motion group and make sure that the axis you are working with is associated to the group 20 Varies Axis is in a faulted state Check the axis configuration 21 Varies The motion group is in the faulted Check the Motion Group configuration state 24 Varies The controller is in an illegal controller Take the controller out of test mode mode 35 Varies Illegal execution target The specified execution target exceeds the number of Output Cam targets configured for the axis 36 Varies The size of the Output Cam array is not Illegal Output Cam Output bit less than 0 or greater than 31 supported or the value of at least one Latch type less than 0 or greater than 3 member is out of range Unlatch type less than 0 or greater than 5 Left or right position is out of cam range and the latch or unlatch type is set to Position or Position and Enable Duration less than or equal to 0 and the unlatch type is set to Duration or Duration and Enable Enable type less
66. Axis Type and the axis must be in the Axis Ready state If any of these conditions are not met than the instruction errs IMPORTANT When the MRAT instruction is initially executed the In Process IP bit is set and the Process Complete PC bit is cleared The MRAT instruction execution can take multiple scans to execute because it requires transmission of multiple messages to the motion module The Done DN bit is not set immediately but only after these messages are successfully transmitted The In Process IP bit is cleared and the Process Complete PC bit is set at the same time that the Done DN bit is set This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMO02E EN P July 2015 275 Chapter 5 276 Motion Configuration Instructions MAAT MRAT MAHD MRHD MRAT Execution Conditions Condition Ladder Diagram Action Structured Text Action Prescan The EN DN ER IP and PC bits are cleared No action taken The rung condition out is set to false Rung condition in is false The EN bit is clear
67. Bidirectional Execution In the case where the Execution Schedule parameter of the instruction is set to Forward Only Reverse Only or Bidirectional the slave axis is not locked to the master until the master axis satisfies the specified condition In this case the master axis is monitored by the camming process to determine when the master axis passes the specified Master Lock Position in the specified direction In a rotary axis configuration this lock criterion is still valid independent of the turns count IMPORTANT Ifthe position reference of the master axis is redefined for example an MRP instruction after the MAPC instruction executes but before the lock condition is satisfied the cam profile generator monitors the master axis based on the absolute position reference system in effect prior to the redefine position operation Figure 10 Forward Only Reverse Only or Bidirectional Execution Master Slave Axis Start Position Position Cam Profile Master Axis Position 1 0 Position Cam Lock Status 1 Position Cam Satus 4 Position Cam Status Position Cam Initiated When the absolute position of the master axis passes the specified Master Lock Position in the specified direction the Position Cam Status bit of the Motion Status word for specified slave axis is set Slave axis motion is then initiated according to the specified cam profile starting at the specified Cam Lock Position of the cam pro
68. Decel Jerk VYVVIVV VN VV VV Jerk Units lt Less Table 30 MAS Relay Ladder Operands Descriptions Operand Type Format Description Axis AXIS_CIP_DRIVE Tag Name of the axis AXIS_VIRTUAL AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Motion Control MOTION_INSTRUCTION Tag Control tag for the instruction 82 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Table 30 MAS Relay Ladder Operands Descriptions Continued Chapter 2 Operand Type Format Description Stop Type DINT Immediate To Stop Choose This Stop Type All motion in process for this axis All 0 With this selection the instruction stops all motion on an axis The stops takes any coordinated motion on the axis into account when it computes the Decel rate and stops that component of the coordinated motion The other axes components of the coordinated motion are unaffected and continue If this instruction stops a Motion Drive Start MDS instruction the Direct Control Feature is disabled and the affected axis is decelerated to a stop by using the instruction parameters Only a certain type of motion but Choose the type of motion that you want to stop leave other motion processes running Jog 1 Move 2 Gear 3 Home 4 Tune 5 Test 6 Position Cam 8 Time Cam 7 M
69. Deceleration and Jerk parameters are ignored When in time driven mode the duration of the dwell is programmed in seconds When in MDSC mode the duration of the dwell is programmed in units of Master Distance If speed is specified in Master Units the move remains active until the specified Master distance has been traversed Similarly when in Time Driven mode program the move time directly in seconds and with a zero departure This results in a programmed delay of the specified time A zero length move that is programmed with a Speed of 0 Seconds or zero Units 8 prog pP per Master Units will complete in the minimum time possible which is 1 coarse update period In MDSC mode the dwell starts either at the Master Lock Position or immediately depending on the programmed Lock Direction parameter and continues for a duration as specified in the Speed parameter Time Based Programming Errors There are two time based programming errors e AXIS_NOT_AT_REST Error 100 e MDSC_UNITS_CONFLICT Error 94 An AXIS_NOT_AT_REST Error 100 occurs if a move is programmed by using Time Based Planning and is started when the active move is at a nonzero velocity This means that a move by using Time Based Planning with the Merge Rockwell Automation Publication MOTION RMOO2E EN P July 2015 MDSC Functionality Chapter 6 Enabled in an instruction will cause an error for most cases because merge is typically used when the axes are moving M
70. Descriptions Continued Operand Type Format Description Windowed BOOLEAN registration immediate Enable 1 if registration is to be Windowed that is that the computed Registration Position must fall within the specified Min and Max Position limits to be accepted as a valid registration event 0 disabled 1 enabled Minimum REAL immediate or Used when Windowed Registration is enabled position Tag Registration Position must be greater than Min Position limit before registration event is accepted Maximum REAL immediate or Used when Windowed Registration is enabled position Tag Registration Position must be less than Max Position limit before registration event is accepted Input Number DINT 1or2 Specifies the Registration Input to select Structured Text 1 Registration 1 Position 2 Registration 2 Position MAR Axis MotionControl TriggerCondition WindowedRegistration MinimumPosition MaximumPosition InputNumber The operands are the same as those for the relay ladder MAR instruction Enter your selection for the operands that require you to select from available options This Operand TriggerCondition Has These Options Which You Or Enter as a Number Enter as Text positive_edge negative_edge WindowedRegistration disabled 0 enabled 1 MAR MOTION_INSTRUCTION Structure Table 90 MAR MOTION_INSTRUCTION Structure Descriptions Enumerations D
71. Direct Drive On MDO Yes an axis Disable the servo drive and set the servo output voltage to Motion Direct Drive Off MDF Yes the output offset voltage Activate the drive control loops for the specified axis and Motion Drive Start MDS Yes run the motor at the specified speed Clear all motion faults for an axis Motion Axis Fault Reset MAFR Yes Control axis position Stop any motion process on an axis Motion Axis Stop MAS Yes Home an axis Motion Axis Home MAH Yes Jog an axis Motion Axis Jog MAJ Yes Move an axis to a specific position Motion Axis Move MAM Yes Start electronic gearing between 2 axes Motion Axis Gear MAG Yes Change the speed acceleration or deceleration ofa move Motion Change Dynamics MCD Yes or a jog that is in progress Change the command or actual position of an axis Motion Redefine Position MRP Yes Calculate a Cam Profile based on an array of cam points Motion Calculate Cam Profile MCCP No Start electronic camming between 2 axes Motion Axis Position Cam MAPC No Start electronic camming as a function of time Motion Axis Time Cam MATC No Calculate the slave value slope and derivative of the Motion Calculate Slave Values MCSV No slope for a cam profile and master value Initiate action on all axes Stop motion of all axes Motion Group Stop MGS Yes Force all axes into the shutdown state Motion Group Shutdown MGSD Yes Transition all axes to the ready state Motion Group Shutdown Reset MGSR Y
72. Drive On MDO 31 59 64 arithmetic status flags 62 changes to status bits 64 description 60 error codes 64 example 64 execution conditions 63 extended error codes 64 fault conditions 62 loss of feedback 62 operands 59 Motion Disarm Output Cam MDOQ 31 256 260 arithmetic status flags 257 changes to status bits 259 description 257 error codes 258 execution conditions 258 fault conditions 257 operands 256 Motion Disarm Registration MDR 31 236 238 arithmetic status flags 237 changes to status bits 238 description 237 error codes 237 fault conditions 237 operands 236 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Disarm Watch MDW 31 223 226 arithmetic status flags 224 description 224 execution conditions 225 fault conditions 224 operands 223 Motion Drive Start MDS 31 69 74 arithmetic status flags 73 changes to status bits 74 error codes 74 fault conditions 74 Motion Event Instructions 215 260 Motion Arm Output Cam MAOC 31 239 255 Motion Arm Registration MAR 31 227 235 Motion Arm Watch MAW 31 216 222 Motion Disarm Output Cam MDOC 31 256 260 Motion Disarm Registration MDR 31 236 238 Motion Disarm Watch MDW 31 223 226 Motion Group Instructions 195 Motion Group Shutdown MGSD 31 202 205 Motion Group Shutdown Reset MGSR 31 206 209 Motion Group Stop MGS 31 196 201 Motion Group Strobe Position MGSP 31 210 213 Motion Group Shutdown MGSD 31
73. EN P July 2015 87 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV MAS Changes to Status Bits If the Stop Type is NOT All Then The instruction clears the Motion Status bit for the motion process that you stopped All The instruction clears all Motion Status bits Bit Status Meaning MoveStatus FALSE Axis is not moving JogStatus FALSE Axis is not jogging GearingStatus FALSE Axis is not gearing HomingStatus FALSE Axis is not homing StoppingStatus TRUE Axis is stopping PositionCamStatus FALSE Axis is not position camming TimeCamStatus FALSE Axis is not time camming PositionCamPendingStatus FALSE Axis does not have a position cam pending TimeCamPendingStatus FALSE Axis does not have a time cam pending GearingLockStatus FALSE Axis is not in a gear locked condition PositionCamLockStatus FALSE Axis is not in a cam locked condition DirectVelocityControlStatus FALSE Axis is not under direct velocity control DirectTorqueControlStatus FALSE Axis is not under direct torque control 88 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Example 1 Stop All Motion Relay Ladder When Servo_Axis_Vars I Stop turns on do the following e Stop all motion on Servo_Axis e Decelerate at 20 0 unit
74. EN bit remains set error DN bit remains clear Rung condition out ER bit is set remains set to true Rung condition out remains true Rung condition out is set to true Processing runs to completion in motion task EN bit remains set Function DN bit is set complete ER bit remains clear Rung condition out is not affected EN bit remains set DN bit remains clear ER bit remains clear Rung condition out is not affected 212 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Group Instructions MGS MGSD MGSR MGSP Chapter 3 MGSP Error Codes See Error Codes ERR for Motion Instructions on page 345 MGSP Changes to Status Bits The MGSP instruction does not make any changes to the status bits MGSP Example When the input conditions are true the controller latches the current command and the actual position of all axes in group Relay Ladder MGS Motion Group Strobe Position N gt Group Motion h gt Motion Control MGSP_2 R gt Structured Text MGSP Motion MGSP _2 Rockwell Automation Publication MOTION RMO02E EN P July 2015 213 Chapter3 Motion Group Instructions MGS MGSD MGSR MGSP Notes 214 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Chapter 4 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC should only be used once Reuse of the motion con
75. Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 MAR Execution Conditions Condition Ladder Diagram Action Structured Text Action prescan The EN DN ER IP and PC bits are cleared No action taken The rung condition out is set to false The EN bit is cleared if either the DN or ER bit is set N A Otherwise the EN bit is not affected The DN ER IP and PC bits are not affected The rung condition out is set to false rung condition in is false rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes instruction execution See the following figure postscan The rung condition out is set to false No action taken EN bit 0 Examine EN bit EN bit is set EN bit remains set DN bit remains clear ER bit is set IP bit remains clear PC bit remains clear Rung condition out is true Instruction detects an error EN bit remains set Rung condition out remains set to true EN bit remains set DN bit is set ER bit remains clear IP bit is set PC bit remains clear Rung condition outis set to true EN bit remains set DN bit remains set ER bit remains clear Processing runs to completion in motion task Registration event occurred IP bit is cleared PC bit is set Rung
76. Incremental Master Offset Move and Merge is Enabled the move only ends an Absolute or Incremental Master Offset move that s already in process The move doesn t affect any other motion that s already in process Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Table 43 Move Types for a Rotary Axis Move Type Absolute Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Use a Second MAM Instruction You can use a second MAM instruction to change one that is already in process You can change the position speed acceleration or deceleration The change immediately takes effect To change the position of an Absolute Move set up a second MAM instruction to do either of the following e Set the Move Type to Absolute and the Position to the new position e Set the Move Type to Incremental and set the Position to the distance to change the end position The new end position is the old end position plus the new incremental distance In either case the axis moves to the new position without stopping at the old position including any required change of direction Combining a Move You can combine a move with gearing for complex profiles and synchronization You can use a Motion Axis Gear MAG instruction together with an MAM instruction This superimposes the gearing on top of the move or the move on top of the gearing For example superimpose an incremental move on
77. MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Example 2 Jog Forward and Reverse with S curve Relay Ladder When the servo loop is enabled And Jog_Fwd_PB or Jog_Rev_PB turn on Set Jog_Direction Run Servo_Axis at Servo_Axis_Vars C _Manual_Jog_ Speed When Jog Fwd_PB and Jog_Rev_PB are off stop Servo_Axis Servo_Axis ServoActionStatus Jog_Fywd_PB Jog_Fywd_PB Ov Move Source 0 Jog_Rev_PB Dest Jog_Direction 0 Jog_Rev_PB lov Move Source 1 Dest Jog_Direction 0 AJ Motion Axis Jog Axis Servo_Axis Motion Control Servo_Axis_Ml Manual_Jog DN3 Direction Jog_Direction oe ER Speed Servo_Axis_Vars C Manual_Jog_Speed 60 0 P Speed Units Units per sec Accel Rate Servo_Axis_Yars C Manual_Jog_Accel Both instructions use the same deceleration and jerk rates 20 0 This avoids overshoots or reversals when you quickly toggle Accel Units Units per sec2 back and forth between instructions Decel Rate Servo_Axis_Vars C Manual_Jog_Decel 20 0 Decel Units Units per sec2 Profile Curve Accel Jerk Servo_Axis_Vars C Manual_Jog_Accel_Jerk 100 0 Decel Jerk Servo_Axis_Vars C Manual_Jog_Decel_Jerk 100 0 Jerk Units of Time Merge Disabled Merge Speed Programmed lt lt Less Jog_Fwd_PB Jog_Rev_PB Servo_Axis_Ml Manual_Jog IP AS mms Motion Axis Stop EN Axis Servo_Axis Motion Control Servo_Axis_MI Stop_Manual DN3 Stop Type Jog Change Decel Yes ER
78. MAPC_1 1 Cam_pro1 0 1 0 1 0 Once immediate MIckpos Clckpos Actual Forwardonly Rockwell Automation Publication MOTION RMOO2E EN P July 2015 177 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Motion Axis Time Cam MATC The Motion Axis Time Cam MATC instruction provides electronic camming of an axis as a function of time according to a specified time cam profile The MATC instruction executes a time cam profile set up by a previous Motion Calculate Cam Profile MCCP instruction or alternatively by the Logix Designer Cam Profile Editor Time cams provide the capability of implementing complex motion profiles other than the built in trapezoidal and S curve motion profiles provided No maximum velocity acceleration or deceleration limits are used in this instruction The speed acceleration and deceleration of the slave axis are completely determined by the designated cam profile derived from the associated cam table established during axis configuration do not apply to electronic i ATTENTION The maximum velocity acceleration or deceleration limits camming Operands The MATC instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MATC Motion Axis Time Cam EN Axis zl Motion Control DN Direction Ps Cam Profile Distance Scaling Time Scaling Execution Mode Execution Schedule Lock Position Lock Direction Instr
79. MATC MCSV Chapter 2 Once the MAPC is executing the state of Position Cam Lock Status is determined by the setting of MasterDirection and the direction the Master Axis is moving Bit Name State Meaning Position Cam Status True Position Camming is Enabled Position Cam Lock Status True Slave Axis is Locked to the Master Axis according to the Cam Profile False Slave Axis is waiting for the Master Axis to move in the direction specified by MasterDirection Position Cam Pending Status Unchanged When ExecutionMode is set to Persistent the Slave Axis will unlock whenever the Master Axis exceeds the Cam Profile range and will lock when the Master Axis reenters the Cam Profile range Bit Name State Meaning Position Cam Status True Position Camming is Enabled Position Cam Lock Status True Slave Axis is Locked to the Master Axis according to the Cam Profile False Slave Axis is waiting for Master Axis to reenter Cam Profile range Position Cam Pending Status Unchanged MAPC Example Relay Ladder MAPC Motion Axis Position Cam o Slave Axis AxisO Master Axis Axis Motion Control MAPC_1 Direction 1 Cam Profile Cam_pro1 0 a Slave Scaling 1 0 a Master Scaling 1 0 Execution Mode Once Execution Schedule Immediate Master Lock Position MIckpos Cam Lock Position Cickpos 2 Master Reference Actual Master Direction Forward Only lt lt Less Structured Text MAPC Axis0 Axis1
80. MDR Example When the input conditions are true the controller disarms registration event checking for axis_0 Relay Ladder MDA Motion Disarm Registration Axis Axis2 E Motion Control MDF_1 Input Number 2 voy Structured Text MDR Axis2 MDR_1 2 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Arm Output Cam MAOC Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 The Motion Arm Output Cam MAOC instruction offers the functionality to set and reset output bits based on an axis position The MAOC instruction executes an output cam profile that is set up manually programmatically or by the Logix Designer Output Cam Editor Internally Output Cam objects handle Motion Planner Cam functionality Each Output Cam object is responsible for one output which consists of 32 output bits Each single output bit can be programmed separately Currently Output Cam functionality is executed in the Logix controller every course update period currently configurable between 1 and 32 ms For more information about how to program and understand scheduled outputs see Position based Output Control with the MAOC Instruction publication 1756 AT017 Figure 23 Motion Planner Functionality Output Bit Axis Position For an explanation of the differences between the Motion Planner in Logix Designer application versions 16 and 16 03 see Motion Planner Version 16 03 Application Note pu
81. MDS instruction This includes clearing the MDS In Process IP bit and clearing the DirectVelocityControlStatus bit and the DirectTorqueControlStatus bit in the Motion Status attribute This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Rockwell Automation Publication MOTION RMOO2E EN P July 2015 203 Chapter3 Motion Group Instructions MGS MGSD MGSR MGSP Fault Conditions There are no fault conditions MGSD Execution Conditions Condition Ladder Diagram Action Structured Text Action prescan The EN DN and ER bits are cleared No action taken The rung condition out is set to false rung condition in is false The EN bit is cleared if either the DN or ER bit is set N A Otherwise the EN bit is not affected The DN and ER bits are not affected The rung condition out is set to false rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes instruction execution See the following figure postscan The rung condition out is set to false No action taken EN bit 0 a Examine EN bi
82. MSO Motion Servo On gt Axis Axis E M Motion Control R gt Structured Text MSO Axis0 MSO_1 Rockwell Automation Publication MOTION RM002E EN P July 2015 Motion Servo Off MSF Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 Use the Motion Servo Off MSF instruction to deactivate the drive output for the specified axis and to deactivate the axis servo loop IMPORTANT an uncontrolled stop Operands Ifyou execute an MSF instruction while the axis is moving the axis coasts to The MSF instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MSF Motion Servo Off N gt Axis E N gt R gt Motion Control Table 10 MSF Relay Ladder Descriptions Operand Type Format Axis AXIS_CIP_DRIVE Tag AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Description Name of the axis to perform action upon Motion Control MOTION_INSTRUCTION Tag Rockwell Automation Publication MOTION RMO02E EN P July 2015 Structure used to access instruction status parameters 43 Chapter 1 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Structured Text MSF Axis MotionControl The operands are the same as those for the relay ladder MSF instruction MOTION_INSTRUCTION Structure Table 11 MSF Motion_Instruction Structure Descriptions Enumerations Description EN Enable Bit 31 It is set wh
83. Master Driven Mode Units These rules must be followed to determine allowable Time and Master Driven mode when programming Acceleration and Deceleration units e Speed Acceleration Deceleration and Jerk must always be programmed in the same mode or you get an error e IfSpeed units are Seconds then Acceleration Deceleration and Jerk units must be seconds too e IfSpeed units are Master units then Acceleration Deceleration and Jerk units must be Master units too e All unsupported unit combinations result in an err at runtime when the instruction is executed 318 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 MDSC Functionality Chapter 6 Jerk Enumerations The following enumerations are defined for time driven and MDSC driven Jerk Units Table 144 Time Driven and MDSC Driven Jerk Units Descriptions Mode Compatibility Enumerations Time Existing Enumeration 0 Units per sec Existing Enumeration Maximum Existing Enumeration 2 of Time New Enumeration 3 Seconds Time based programming MDSC New Enumeration 4 Units per MasterUnit2 5 Reserved New Enumeration 6 of Time master Driven New Enumeration 7 Master Units Analogous to seconds in time based programming Acceptable combinations of Accel and Decel Units are based on the programmed Speed Units in the instruction as is shown in the following table This table is used to clarify the differences
84. ON This issue applies to any output point or virtual output controlled by an MAOC instruction Additionally we recommend that you only change configuration when the CAM element is not active For more information about the OUTPUT_CAM data type structure see OUTPUT CAM Structure on page 357 The following diagram shows the relationships between the axis input and output that are defined by the Output Cam element Latch amp Unlateh Output Bit Operation Figure 25 Output Cam Relationships Position Enable Selection amp Inversion Input Bit 0 31 Output Bit 0 31 Latch Type Depending on the selected LatchType the corresponding output bit is set according to the following table Rockwell Automation Publication MOTION RMOO2E EN P July 2015 245 Chapter4 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Table 98 Latch Type Behavior Latch Type Behavior Inactive The output bit is not changed Position The output bit is set when the axis enters the compensated cam range Enable The output bit is set when the enable bit becomes active Position and Enable The output bit is set when the axis enters the compensated cam range and the enable bit becomes active The following diagram shows the effect of the selected latch type on the output bit for different compensated cam and enable bit combinations as function of position Figure 26 Compensated CAM and Enable
85. Pos Integral Gain Real msec Position Servo Loop Integral Gain Vel Proportional Gain Real 1 msec Velocity Servo Loop Proportional Gain Vel Integral Gain Real msec Velocity Servo Loop Integral Gain Velocity Feedforward Real Position Servo Loop Proportional Gain Acceleration Feedforward Real Velocity Command Feedforward Max Speed Real pos units sec Maximum Speed for Motion Profiles Set to Tuning Velocity Max Acceleration Real pos units sec Maximum Acceleration for Motion Profiles Max Deceleration Real pos units sec Maximum Acceleration for Motion Profiles Output Filter Bandwidth Real Hertz Bandwidth of Low Pass Servo Output Filter Output Scaling Real mV KCPS Scale Factor applied to output of the Velocity Servo Loop to the DAC Position Error Tolerance Real pos units Maximum Servo Loop Position Error allowed Rockwell Automation Publication MOTION RMO02E EN P July 2015 without Fault Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 The previously listed output parameters generated by the MAAT instruction are immediately applied to the specified axis so that subsequent motion can be performed For more information about tuning configuration parameters see Tune Status Parameter on page 274 Executing the Instruction To successfully execute a MAAT instruction the targeted axis must be configured as a Servo axis and be in the Axis Ready state with servo action off If these condition
86. Relational Operators Relational operators compare two values or strings to provide a true or false result The result of a relational operation is a BOOL value If the Comparison Is The Result Is true false 0 Use these relational operators For This Comparison Use This Operator Optimal Data Type equal DINT REAL string less than lt DINT REAL string less than or equal lt DINT REAL string greater than gt DINT REAL string greater than or equal gt DINT REAL string not equal lt gt DINT REAL string These are some examples Table 172 Relational Operators Example Situations Use This Format value1 operator value2 Example For This Situation You d Write Iftemp is a DINT tag and your specification says If temp is less IF temp lt 100 THEN than 100 then stringtag1 operator stringtag2 If bar_code and dest are string tags and your specification IF bar_code dest THEN says If bar_code equals dest then char1 operator char2 To enter an ASCII character directly into the expression enter the decimal value of the character If bar_code is a string tag and your specification says If IF bar_code DATA 0 65 THEN bar_code DATA 0 equals A then bool_tag bool_expressions If count and length are DINT tags done is a BOOL tag and your done count gt length specification says If count is greater than o
87. Rockwell Automation Publication MOTION RM002E EN P July 2015 283 Chapter5 Motion Configuration Instructions MAAT MRAT MAHD MRHD Motion Run Hookup Diagnostics MRHD 284 Use the Motion Run Hookup Diagnostics MRHD instruction to command the motion module to run any one of three different diagnostics on the specified axis as selected by the Test ID Currently diagnostics are available to test the motor encoder hookup for a servo axis the encoder hookup only and the encoder marker hookup Only the motor encoder diagnostic initiates motion on the axis This action consists of a short move of a user Motor Encoder Test Increment The move is initiated by roughly 1 Volt per second ramping level of the servo s drive output The result of executing the MRHD instruction is that the parameters Test Status and Test Direction Forward are updated Operands The MRHD instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder RHD Motion Run Hookup Diagnostics _ Axis i Motion Control Diagnostic Test Table 119 MRHD Operand Descriptions Operand Type Format Description Axis AXIS_CIP_DRIVE Tag Name of the axis to perform operation on AXIS_SERVO AXIS_SERVO_DRIVE Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Diagnostictest DINT immediate Selects the specific test for the motion module to run 0 motor encoder hookup te
88. Stop MAS instruction The axis continues to speed up and then eventually slows to a stop Look For Jog_PB sLocal 4 Data 1 0 My_Axis_OK MAJ Motion Axis Jog EN Axis My_Axis Motion Control Manual_Jog ON Direction 0 ER S curve profile in the instruction Speed st aa a PH that starts the motion Speed Units Units per sec Accel Rate Manual_Jog_Accel 20 0 Accel Units Units per sec2 Decel Rate Manual_Jog_Decel 20 06 Decel Units Units per sec2 Profile S Curve Accel Jerk Manual_Jog_Accel_Jerk 100 0 Decel Jerk Manual_Jog_Decel_Jerk 100 0 Jerk Units of Time Merge Disabled Merge Speed Programmed lt lt Less Rockwell Automation Publication MOTION RMOO2E EN P July 2015 331 Chapter8 Analyzing Axis Motion Table 151 Axis Deceleration Cause When you use an S curve profile jerk determines how fast an axis can change its acceleration and deceleration An S curve profile has to get acceleration to zero before the axis can slow down The time it takes depends on the jerk acceleration and speed Inthe meantime the axis continues to speed up The following trends show how the axis stops with a trapezoidal profile and an S curve profile Trapezoidal S curve 100 12 07 05 PM 100 z speed goes up 80 s 5 until acceleration is 0 80 60 60 40 20 z acceleration acceleration 40 The axis slows down as soo
89. Text Programming Appendix C Use IF THEN to do something if or when specific conditions occur Operands Structured Text IF bool_expression THEN lt statement gt END_IF Table 179 IF THEN Operand Description bool_expression BOOL Tag BOOL tag or expression that evaluates to a BOOL value Expression BOOL expression Description The syntax is as follows IF bool_expression1 THEN lt statement gt statements to execute when bool _expression1 is true ELSIF bool_expression2 THEN ELSE lt statement gt lt ______ statements to execute when bool_expression2 is true lt statement gt lt q _ __ statements to execute when both expressions are false END_IF To use ELSIF or ELSE follow these guidelines 1 To select from several possible groups of statements add one or more ELSIF statements e Each ELSIF represents an alternative path Specify as many ELSIF paths as you need e The controller executes the first true IF or ELSIF and skips the rest of the ELSIFs and the ELSE Rockwell Automation Publication MOTION RM002E EN P July 2015 371 AppendixC Structured Text Programming 2 To do something when all of the IF or ELSIF conditions are false add an ELSE statement This table summarizes combinations of IF THEN ELSIF and ELSE If You Want To And Then Use This Construct do something if or when conditions are do nothing if conditions are false IF THEN true
90. and Max Negative Travel limits in the absolute sense Exercise caution when redefining the absolute position of an axis that has travel limits f ATTENTION If software overtravel limit checking is in effect execution of an Rockwell Automation Publication MOTION RM002E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Absolute and relative mode MRP instructions have the same effect when the axis is not moving When the axis is moving however absolute mode introduces a position error equal to the motion of the axis during the time it takes to execute the MRP instruction and assign the new position Relative mode does not introduce this error and guarantees an exact correction independent of axis speed or position Relative Mode When Relative is selected or entered as the MRP Type the New Position value is used to offset the current position of the axis No motion occurs the current axis position actual or command is simply redefined to be the current position plus the specified new position In relative mode axis position is redefined in such a way that no position errors are introduced if the axis is moving It is particularly useful for unwinding axis position under program control rather than using the built in rotary axis feature Absolute and relative mode MRP instructions have the same effect when the axis is not moving When the axis is moving however absolu
91. and to start your motion solution by using SERCOS or an analog control solution Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Provides general guidelines for installing a Rockwell Automation industrial system Product Certifications website http www rockwellautomation com global certification overview page Provides declarations of conformity certificates and other certification details You can view or download publications at http www rockwellautomation com literature To order paper copies of technical documentation contact your local Allen Bradley distributor or Rockwell Automation sales representative Rockwell Automation Publication MOTION RMO02E EN P July 2015 33 Preface Notes 34 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Chapter 1 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR ATTENTION Tags used for the motion control attribute of instructions should only be used once Reuse of the motion control tag in other instructions can cause unintended operation This can result in damage to equipment or personal injury Motion state control instructions directly control or change the operating states ofan axis These are the motion state instructions Table 4 Choosing a Motion State Instruction If you want to Use this instruction Page Available in these languages Enable the servo dri
92. applications which require unidirectional motion a slip clutch feature is available which prevents the slave from backing up when the master axis reverses direction This feature is controlled by the Master Direction parameter To support applications which require unidirectional motion a slip clutch feature is available which prevents the slave from backing up when the master axis reverses direction Master and Slave Scaling functionality can be used to scale slave motion based on a standard cam profile without having to create a new cam table and calculate a new cam profile 160 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Linear and Cubic Interpolation Position cams are fully interpolated This means that if the current Master Axis position does not correspond exactly with a point in the cam table associated with the cam profile the slave axis position is determined by linear or cubic interpolation between the adjacent points In this way the smoothest possible slave motion is provided Each point in the Cam array that was used to generate the Cam Profile can be configured for linear or cubic interpolation Electronic camming remains active through any subsequent execution of jog or move processes for the slave axis This allows electronic camming motions to be superimposed with jog or move profil
93. as they are processed by the motion planner For the Immediate Forward Only or Immediate Reverse Only Lock Directions the slave gets locked to the Master Axis immediately when the instruction is executed goes IP For the Position Forward Only or Position Reverse Only Lock Directions the slave gets locked to the master axis when the master axis crosses the Master Lock Position in the direction as specified by the motion instruction In either case the LockStatus bit of the Slave position status word is set when the lock occurs Because there is no bidirectional behavior defined once locked the Slave follows the Master only in the specified direction If the Master reverses direction then the Slave stops following the Master The LockStatus bit remains set until the Master decelerates to zero prior to reversal It is cleared at the point of reversal of the Master axis The Slave does not follow the Master while the Master travels in the reverse direction If the Master axis changes directions again then the axis LockStatus bit is set again when the Slave Axis crosses the original reversal point at which time the slave resumes following the Master Axis Figure 36 Axis Lock Behavior MAM IP is NOT cleared if the Master moves past these points in F the reverse direction It is never 1St Reversal Point of Master Axis cleared in the reverse direction 2nd reversal point Lock Status is cleared here Slave resumes being locked here if t
94. back The calculated speed is very high This happens when the robot either on itself at the origin of the coordinate system gets fully stretched Move in a relatively straight line through positions where X1 0 and X2 0 folds back on itself moves away from X1 0 and X2 0 ina different angle than it approached that position is configured with the wrong velocity limit Example These moves produce this error 3 AS ra a 7 Next move is atthis 7 First move is at this angle angle X2 70 Look for source or target axes that are configured as rotary positioning mode Axes In Transform Must Be Linear Change them to linear positioning mode A transform works only with linear axes 71 Wait until the transform that you are canceling is completely canceled Transform Is Canceling 72 Check the target positions A calculated joint angle is beyond 360 Max Joint Angle Exceeded 73 Check that each MCT instruction in this chain is producing valid positions Coordinate System Chaining Error This MCT instruction is part of a chain of MCT instructions There is a problem with one of the instructions in the chain 74 Change the orientation to angles that are within 360 Invalid Orientation Angle 75 You cannot use this instruction with a SoftLogix controller Instruction not supported 76 1 Open the properties for the axis Zero Max Decel Jerk 2 On the Dynamics tab enter a value for the maximum deceleration jerk You cannot start motion th
95. been calculated by checking the value of the first cam profile element s Status member If Status is 0 or 1 then the cam profile has not been calculated yet and the MAPC instruction errors If the cam profile array has been completely calculated Status gt 1 the instruction then increments the Status member indicating that it is in use by this axis When the cam completes or terminates the Status member of the first cam profile array element is decremented to maintain track of the number of cams actively by using the associated cam profile Scaling Position Cams A position cam profile can be scaled in both the master dimension and slave dimension when it is executed This scaling feature is useful to allow the stored cam profile to be used to determine the general form of the motion profile The scaling parameters are then used to define the total master or slave travel over which the profile is executed as shown in Figure 7 In this way one standard cam profile can be used to generate a whole family of specific cam profiles When a cam profile array is specified by an MAPC instruction the master and slave values defined by the cam profile array take on the position units of the master and slave axes respectively By contrast the Master and Slave Scaling Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 parameters are unitl
96. cam profile 161 stopping acam 171 187 Motion Axis Shutdown MASD 31 48 53 arithmetic status flags 50 changes to status bits 52 description 49 error codes 52 example 52 execution conditions 51 fault conditions 50 operands 48 Motion Axis Shutdown Reset MASR 31 54 58 arithmetic status flags 56 changes to status bits 57 description 55 error codes 57 example 58 execution conditions 56 fault conditions 56 operands 54 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Index Motion Axis Stop MAS 31 82 88 arithmetic status flags 87 changes to status bits 88 description 85 error codes 87 fault conditions 87 operands 82 Motion Axis Time Cam MATC 31 178 191 arithmetic status flags 188 cam profile array checks 182 cam profile execution modes 184 changes to status bits 191 description 181 error codes 190 example 191 execution conditions 189 execution schedule 184 extended error codes 190 fault conditions 188 immediate execution 184 linear and cubic interpolation 181 merging from a cam 188 operands 178 pending cam execution 185 scaling time cams 183 specifying the cam profile 182 Motion Calculate Cam Profile MCCP 31 150 155 arithmetic status flags 154 calculating the cam profile 153 changes to status bits 154 description 151 error codes 154 example 155 extended error codes 154 fault conditions 154 linear and cubic spline interpolation 152 operands 150 specifying the c
97. clearing the MDS In Process IP bit and clearing the DirectVelocityControlStatus and the DirectTorqueControlStatus bit in the Motion Status attribute This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 45 Chapter1 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR MSF Execution Conditions Condition Ladder Diagram Action Structured Text Action Prescan The EN DN and ER bits are cleared No action taken The rung condition out is set to false Rung condition in is false The EN bit is cleared if either the DNor ER N A bit is set Otherwise the EN bit is not affected The DN and ER bits are not affected The rung condition out is set to false Rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes Instruction execution See the following figure Postscan The rung condition out is set t
98. command reference derived from the motion planner that is the Tracking Command status bit is cleared If all the starting conditions are met the axis state transitions to either the Running state or the Testing state Running The drive s power structure is active that is the Power Structure Enabled status bit is set Additionally the selected Control Mode is enabled and actively tracking command data from the controller based or drive based motion planner output to affect axis motion that is the Tracking Command status bit is set Testing When any one of the Run Test request services is sent to the motion axis while in the Stopped state that is services that require an active power structure to execute the axis immediately transitions to the Starting state that is the Power Structure Enabled status bit is set Then once the Starting state conditions are met the axis transitions to the Testing state Like the Running state in the Testing state the drive s power structure is active The motion axis remains in this state for the duration of the requested test procedure and then returns to the Stopped state The motion axis can also exit the Testing state by either a fault or an explicit Axis Control request Stopping When a Disable request is issued to an axis in the Running or Testing state the axis immediately transitions to the Stopping state In this state the axis is in the process of stopping and no longer tracks com
99. condition out is not affected Process aborted EN bit remains set DN bit remains set ER bit remains clear IP bit is cleared PC bit remains clear Rung condition out is not affected Rockwell Automation Publication MOTION RMOO2E EN P July 2015 233 Chapter 4 234 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC MAR Error Codes See Error Codes ERR for Motion Instructions on page 345 MAR Extended Error Codes Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions The following Extended Error Codes help to pinpoint the problem when the MAR instruction receives a Servo Message Failure 12 error message Table 91 MAR Extended Error Codes Descriptions Associated Error Code decimal Extended Error Code Meaning decimal SERVO_MESSAGE_FAILURE 12 No Resource 2 Not enough memory resources to complete request sercos SERVO_MESSAGE_FAILURE 12 Invalid value 3 Registration input provided is out of range SERVO_MESSAGE_FAILURE 12 Device in wrong state 16 Redefine Position Home and Registration 2 are mutually exclusive sercos Extended Error Codes for the Parameter Out of Range 13 error code work a little differently Rather than having a standard enumeration the number that appears for the Extended Error code refers to the number of the operand as they are
100. detects an 3 nn iris car iti error i i Rung condition out IP bit remains clear remains set to true PC bit remains clear Rung condition out is true EN bit remains set DN bit is not affected ER bit remains clear AP bit is set PC bit remains clear Rung condition out is set to true Processing runs to completion in motion task X EN bit remains set DN bit remains set P ER bit remains clear rocess IP bit is cleared complete PC bit is set Rung condition out is not affected EN bit remains set DN bit remains set Ye ER bit remains clear a a IP bit is cleared aborted PC bit remains clear Rung condition out is not affected 200 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Group Instructions MGS MGSD MGSR MGSP Chapter 3 MGS Error Codes See Error Codes ERR for Motion Instructions on page 345 MGS Changes to Status Bits Table 76 MGS Changes to Status Bits for the MSG Instruction Ifthe Stop Typeis Then NOT All The instruction clears the Motion Status bit for the motion process that you stopped All The instruction clears all Motion Status bits Bit Status Meaning MoveStatus FALSE Axis is not Moving JogStatus FALSE Axis is not Jogging GearingStatus FALSE Axis is not Gearing HomingStatus FALSE Axis is not Homing StoppingStatus TRUE Axis is Stopping PositionCamStatus FALSE Axis is not Position Camming TimeCamSta
101. drive s feedback 1 device 0 The drive s feedback 1 device detected a positive direction that is increasing counts 1 The drive s feedback 1 device detected a negative direction that is decreasing counts 2 255 reserved The value for Hookup Test Feedback 1 Direction as determined by the hookup test does not depend on the current feedback motor or motion polarity attribute configuration This value combined with the user s definition of forward direction can be used to configure the various polarity attributes for the correct directional sense 290 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Table 123 MRHD Axis Parameter Descriptions Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 Axis Parameter Data Type Units Descriptions Hookup Test Feedback USINT Reports the direction of axis travel during the last hookup test as detected by the drive s feedback 2 device Direction 2 0 The drive s feedback 2 device detected a positive direction that is increasing counts Table 124 MRHD Output Parameters Axis Parameter Hookup Test Status Data Type USINT Units 1 The drive s feedback 2 device detected a negative direction that is decreasing counts 2 255 reserved The value for Hookup Test Feedback 2 Direction as determined by the hookup test does not depend on the current feedback motor or motion polarity attribute configuration This value combi
102. ees 103 Arithmetic Status Flags asain ewatecst ana ee ets auaeaweuenareles 105 Fault Conditions lt as cncn tke ett A AAEE area G 105 MAJ Bitar odes tctes Barter eras te a eee 105 MAJ Changes to Status Bits ann pancnndakescadvcaeae ne Reece 106 Example I pis esscaactucaehenenieesct athena E O OR idem etabs 107 Example 2e euchedad Mey gota wih tae y Be N ETEA 109 Motion Axis Move MAM iiscich hos oo 3i 6 Vouled reese 111 Operands srianan Series oise a a aah niga areata ged cided ccm 111 IDesehiprionae mesurer edenn Da E oN iNae dee ba Bel vlc 114 Programming Guidelines c 0iss ss tesoiuuowed ieee Soeas aaraaiws 115 Arithmetic Status Flaps i255 2853 sau he hegannu sade peers 119 Fault Conditions eisisto erin as bee ah 119 Error Codes neen etal oy Gente s a A A N 120 MAM Changes to Motion Status Bits 000 eee eee 120 MAM Examples xcictvatectasseststoaet EEEE EENE 121 Motion Axis Gear MAG cou aioe oe abo Wh alayee seis Wad oe 123 Operands swans Pett ie bn Se ee eaten 123 Descriptions nesre eatin est ACU are tse ene ates craters 126 MAG Programming Guidelines 00 000s eee eee eee 127 Arithmetic Status Flags dasa deng koeusledeewederksaeewrtyce 129 Fault Conditions neess ASSS pana alee oases Sea ae RR 129 MAG Execution Conditions cece cece eee e nee eeee 130 MAG Errof Codes eaaa sees betel oii bee te boas be al 131 Rockwell Automation Publication MOTION RMO02E EN P July 2015 13 Tabl
103. example 1 345 or Slave Counts to Master Counts for example 1 3 The MAG instruction supports specification of the gear ratio in one of two different formats Real or Fractional as determined by the Ratio Format input selection The direction of Slave Axis motion relative to the Master Axis is defined by a very flexible Direction input parameter The gearing direction can be explicitly set as the Same or Opposite or set relative to the current gearing direction as Reverse or Unchanged The value for Ratio is sign sensitive The Master Reference selection allows gearing input to be derived from either the Actual or Command position of the Master Axis When the instruction s Clutch capability is activated the gearing instruction commands the slave axis to accelerate or decelerate at a controlled rate before Locking on to the master axis by using the instructions Acceleration value much like the clutch of a car Select or enter the desired Master Axis Slave Axis and Direction and enter a value or tag variable for the desired ratio If an axis is dimmed gray or not shown in the Slave Axis pop up menu the physical axis is not defined for Servo operation If the targeted axis does not appear in the list of available axes the axis has not been configured for servo operation Use the Tag Editor to create and configure a new axis Electronic gearing remains active through any subsequent execution of jog or move processes for the slave axis T
104. execution of the MAPC instruction simply sets both the Position Cam Status and the Position Cam Lock Status bits to True Bit Name State Meaning Position Cam Status TRUE Position Camming is Enabled Position Cam Lock Status TRUE Slave Axis is Locked to the Master Axis according to the Cam Profile Position Cam Pending Status Unchanged If the Execution Schedule is set to Forward or Reverse execution of the MAPC instruction initially sets the Position Cam Status bit to True and the Position Cam Lock Status bits to False Position Cam Lock Status transitions to True when the Execution Schedule condition is satisfied Bit Name State Meaning Position Cam Status TRUE Position Camming is Enabled Position Cam Lock Status FALSE Slave Axis is waiting for Master Axis to reach Lock Position Position Cam Pending Status Unchanged If the Execution Schedule is set to Pending execution of the MAPC instruction does not affect the current state of either the Position Cam Status or Position Lock Status bits Position Cam Pending Status bit is set to True immediately and transitions to False when the pending cam becomes the active cam Bit Name State Meaning Position Cam Status Unchanged Position Cam Lock Status Unchanged Position Cam Pending Status True Pending Position Cam Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC
105. first scan of the step Make_Correction AM Servo_Axis Servo_Axis MI Reg Correction _ Move 1 Reg Error Unitspersec 1 UnitspersecZ l UnitspersecZ SCurve 100 100 tofTime Disabled Programmed Reg_ Correction Tran_010 Servo_Axis_MI Reg Correction Move PC The PC bit for the move turns on when the move is complete The SFC leaves the step when the PC bit turns on 122 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Axis Gear MAG Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 The MAG instruction enables electronic gearing between two axes at a specified ratio Electronic gearing allows any physical axis to be synchronized to the actual or command position of another physical axis at a precise ratio A Operands ATTENTION The maximum velocity acceleration or deceleration limits established during axis configuration do not apply to electronic gearing The MAG instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MAG Motion Axis Gear Slave Axis Master Axis Motion Control Direction ay YY Ratio J Slave Counts Master Counts Master Reference Ratio Format Clutch Accel Rate J Accel Units lt lt Less Table 45 MAG Relay Ladder Operand Descriptions Operand Slave axis Type AXIS_CIP_DRIVE AXIS_VIRTUAL AXIS_ GENERIC AXIS_SERVO AXIS
106. indicating interface to an external velocity servo drive the following input parameters are required Axis Parameter DataType Units Descriptions Tuning Velocity Real pos units sec Top Speed of Tuning Profile Tune Accel Real pos units sec Calculated Acceleration Time of Tuning Profile Tune Decel Real pos units sec Calculated Deceleration Time of Tuning Profile Tune Velocity Scaling Real mV KCPS Measured Velocity Scaling factor of axis Drive Motor Encoder system Tune Velocity Bandwidth Real Hertz Bandwidth of External Velocity Servo Drive If the External Vel Servo Drive configuration bit parameter is FALSE indicating interface to an external torque servo drive the following input parameters are required Axis Parameter Data Type Units Meaning Damping Factor Real Damping Factor used to calculate the gains Tuning Velocity Real pos units sec Top Speed of Tuning Profile Tune Accel Real pos units sec Calculated Acceleration Time of Tuning Profile Tune Decel Real pos units sec Calculated Deceleration Time of Tuning Profile Effective Inertia Real mV KCPS Computed Effective Inertia of Drive Motor system Position Servo Bandwidth Real Hertz Maximum Position Servo Loop Bandwidth Rockwell Automation Publication MOTION RMO02E EN P July 2015 263 Chapter 5 264 Motion Configuration Instructions MAAT MRAT MAHD MRHD The axis configuration parameters th
107. initial_ value SINT Tag must evaluate to a number INT Expression specifies initial value for count DINT Immediate final_ value SINT Tag specifies final value for count that determines when INT Expression to exit the loop DINT Immediate increment SINT Tag optional amount to increment count each time INT Expression through the loop DINT Immediate If you don t specify an increment the count increments by 1 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Description This is the syntax Table 184 FOR D0 Syntax Description optional optional Done x number of rad times no statement 1 statement 2 statement 3 statement 4 The FOR DO loop executes a specific number of times FOR count initial_value TO final_value BY increment DO lt statement gt IF bool_expression THEN EXIT END_IF END_FOR Structured Text Programming Appendix C Ifyou don t specify an increment the loop increments by 1 lt q fthere are conditions when you want to exit the loop early use other statements such as an IF THEN construct to condition an EXIT statement These diagrams show how a FOR DO loop executes and how an EXIT statement leaves the loop early yes v rest of the routine Arithmetic Status Flags Donexnumberof yes ag times no statement 1 statement 2 statement 3 statement 4 Exit yes VT a v rest of the routine To
108. method An explicit Shutdown Reset is required to restore the drive to an operational state Executing the Instruction This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Rockwell Automation Publication MOTION RMOO2E EN P July 2015 73 Chapter 1 74 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Fault Conditions There are no fault conditions Error Codes See Error Codes ERR for Motion Instructions on page 345 MDS Changes to Status Bits Bit Name Meaning DirectVelocityControlStatus FALSE Axis is not under Direct Velocity Control DirectTorqueControlStatus FALSE Axis is not under Direct Torque Control MDS Example Relay Ladder MDS Motion Drive Start Axis Motion Control Speed Speed Units Structured Text MDS Axis1 MDS_2 0 25 Unitspersec Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Axis Fault Reset Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 Use the Motion Axis Fault Reset MAFR instruction to clear all motion faults for an axis This is the only method for clea
109. module fault e for Axis Consumed physical axis fault Those faults produce unreliable feedback data Also if an axis fault exists when an MAOC instruction is initiated the instruction errs Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 MAOC Example Relay Ladder AOC Motion Arm Output Cam Axis Axis1 CJ Execution Target ExecutionTarget 1 2 Motion Control MotionControl 1 Output 0 Input Input 1 Output Cam OutputCam 1 0 Cam Start Position CamStartPosition 1 Cam End Position CamEndPosition 1 Output Compensation OutputComp 1 0 Execution Mode Continuous Execution Schedule Immediate Axis Arm Position AxisArmPosition 1 Cam Arm Position CamArmPosition 1 Position Reference Actual Structured Text MAOC axis1 execution_target1 motion_control output1 input1 outputcam1 0 cam_start1 cam_end1 output_comp1 0 continuous immediate arm_positio nl cam_arm_pos actual The Scheduled Output module is designed to work in conjunction with the MAOC motion instruction Rockwell Automation Publication MOTION RMOO2E EN P July 2015 255 Chapter 4 Motion Disarm Output Cam MDOC 256 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC The Motion Disarm Output Cam MDOC instruction initiates the disarming of one or more Output Cams connected to the specified axis Based on the disarm type the MDOC instructio
110. motion modules SERCOS and Analog Motion Configuration and Startup User Manual publication MOTION UM001 Configure your controller for coordinate system Who Should Use This Manual Motion Coordinate System User Manual publication MOTION UM002 You can use these Logix5000 controllers for motion control 1756 ControlLogix controllers 1756 GuardLogix controllers version 16 and later 1768 CompactLogix controllers version 15 and later 1769 CompactLogix controllers version 20 and later 1789 SoftLogix 5800 controllers 20D PowerFlex 700S drive with DriveLogix controllers version 19 and earlier If You Have a PowerFlex 700S Drive with DriveLogix Controller You cannot use these instructions with a DriveLogix controller Motion Direct Drive On MDO Motion Direct Drive Off MDF Motion Apply Axis Tuning MAAT Motion Run Axis Tuning MRAT Motion Apply Hookup Diagnostics MAHD Motion Run Hookup Diagnostics MRHD This document provides a programmer with details about the motion instructions that are available for a Logix5000 controller You should already be familiar with how the Logix5000 controller stores and processes data Novice programmers should read all the details about an instruction before using the instruction Experienced programmers can refer to the instruction information to verify details Rockwell Automation Publication MOTION RMO02E EN P July 2015 23 Preface Purpose of
111. move for a Rotary axes The axis e moves to the specified Position in the negative direction regardless of its current position e moves through 0 if needed You cannot move the axis more than one revolution with a single Rotary Shortest Path move Pending Move If there is a pending move on an axis because the master axis has not started any attempts to move the same axis with a MAM instruction will take into account the increment from the pending move For example if you are currently in MDAC mode Then you start an incremental move of 10 units on the slave axis the MAM instruction move will go IP In Progress bit is set but no motion takes place because the master has not moved yet 118 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 To start the second move execute an incremental MAM instruction of 1 unit from motion direct command The axis will move 11 units You might expect the axis to move only unit These steps explain what happens 1 When the slave axis is waiting for the master to move the instruction goes IP but no move takes place 2 The AxisMoveLock Status is enabled 3 Start the motion direct move AxisLockStatus immediately goes to zero and the move takes place If the Axis Lock Status goes to zero it seems that the qued move should be ignored This is an example 1 Start
112. not contain a carriage return 8 Click step 3 Structured Text Programming Appendix C Enter This Structured Text element_number 0 SIZE SINT_array 0 SINT_array_size While SINT_array element_number lt gt 13 do String_tag DATA element_number SINT_array element_number element_number element_number 1 String_tag LEN element_number If element_number SINT_array_size then exit end_if end_while Rockwell Automation Publication MOTION RMOO2E EN P July 2015 383 AppendixC Structured Text Programming REPEAT UNTIL Use the REPEAT UNTIL loop to keep doing something until conditions are true Operands Structured Text REPEAT lt statement gt UNTIL bool _expression END_REPEAT IMPORTANT Make sure that you do not iterate within the loop too many times in a single scan e The controller does not execute any other statements in the routine until it completes the loop e Ifthe time that it takes to complete the loop is greater than the watchdog timer for the task a major fault occurs e Consider using a different construct such as IF THEN Table 186 REPEAT UNTIL Operand Description bool_expression BOOL Tag BOOL tag or expression that evaluates to a BOOL value Expression BOOL expression Description This is the syntax REPEAT lt statement gt statements to execute while bool_expression1 is false optional IF bool_
113. number of the operand that is out of range The first operand is 0 For example if EXERR 3 then check the Speed EXERR Operand 0 Axis 1 Motion Control 2 Direction 3 Speed 4 Ratio 54 1 The coordinate system has a Maximum Click the Properties for the coordinate system axis and set a Maximum Deceleration Deceleration of 0 0 or more An axis in the coordinate system has a 1 Open the Properties for the axis Maximum Deceleration of 0 2 Use the EXERR value to see which axis has the Maximum Deceleration of 0 3 The axis that you are jogging has a deceleration rate of 0 4 Click the ellipsis button next to the offending axis to access the Axis Properties screen 5 Click the Dynamics tab and make the appropriate change to the Maximum Deceleration Value If the Extended Error number is 1 this means the Coordinate System has a Maximum Deceleration Value of 0 Click the Coordinate System Properties Dynamics Tab to correct the Maximum Deceleration value MCD Changes to Status Bits The MCD instruction makes no changes to status bits 140 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV MCD Example When the input conditions are true the controller changes the speed Chapter 2 acceleration or deceleration rate of a move profile or jog profile in progress for axisl Relay Ladder MCD Motion Change Dynamics Axis Motion Contr
114. ogee te e aN a a e E lentes 223 Description oieee teg n a a a E a E a a ea 224 Arithmetic Status Flags u unensursrsurrerrrrrerrererrere 224 Fault Conditions ccna angunectr aE EEEE ENa a 224 MDW Execution Conditions ssssseuuseseerrrrrrerrerr 225 MDW Error Codes suuuesesrrrrruuurerrrrrrrrrrrrrrn 226 MDW Changes to Status Bits s sssssssenrsrrerrrrrrrru 226 MDW Example o ccernuetssreiie eel uO o ess 226 Motion Arm Registration MAR s sssssesesererrrerrrrrerere 227 Operands e ia A a EEE E A vad S RUE ieee 227 Description srergeco creient ei iaaa PEREN EE ROEE E EES 229 Rearmingan MAR Instruction lt 2264 lt l cos Veueal bush eee ae oak 230 Arithmetic Status Flags 5 3 54 eas ous re eneen ana 231 Fault Conditions aeea i a a aa 232 MAR Execution Conditions ccc cece cece eee en ees 233 MAR Bttot Codese ci Gaeeuchste aves riedda were tage we eee ee 234 MAR Changes to Status Bits 53 lt 0 sh ce casacedheensanesees 235 MAR Example ice vnredpetsrene seat aires V E E E AE 235 Motion Disarm Registration MDR ssssscssrerrrerrrererere 236 Operands oia a Ea EE e tat dere ge EASA 236 Descripti n Peremeriro ioun aa arg Satta ree aapa 237 Rockwell Automation Publication MOTION RM002E EN P July 2015 Motion Configuration Instructions MAAT MRAT MAHD MRHD Table of Contents Arithmetic Status Flags ss lt ccnecy teria d VdM wale eee wa 237 Fault Cond tans etira run asennad wet AE arn 237 Error C Ge
115. on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 257 Chapter4 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC MDOC Execution Conditions Condition prescan Ladder Diagram Action Structured Text Action The EN DN and ER bits are cleared No action taken The rung condition out is set to false rung condition in is false The EN bit is cleared if either the DN or ER bitis N A set Otherwise the EN bit is not affected The DN and ER bits are not affected The rung condition out is set to false rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes instruction execution postscan The rung condition out is set to false No action taken Examine EN bit EN bit remains set Rung condition out remains set to true EN bit 0 EN bit 1 EN bit is set Instruction detects an error EN bit remains set DN bit remains clear ER bit is set Rung condition out remains true Processing runs to completion in motion task Rung condition out is set to true EN bit remains set DN bit is set ER bit remains clear Rung condition out is not aff
116. on the Ethernet IP network When a Fast Disable is issued and a Direct Velocity command is issued via the MDS instruction the CIP axis is disabled when all planned motion is stopped However in this case the drive device continues coasting or stopping according to its Stop Action selection Hard Disable For an axis configured for a Hard Disable the MGS instruction initiates the equivalent of an MSF instruction to the axis This action immediately turns the appropriate axis drive output off and disables the servo loop Depending on the drive configuration this can result in the axis coasting to a stop but offers the quickest disconnect of drive output power When a Hard Disable is used to stop a Motion Drive Start MDS instruction the Direct Command feature is disabled Additionally the affected axis is immediately disabled Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Group Instructions MGS MGSD MGSR MGSP Chapter 3 Table 75 MGS Programmed Stop Action Modes Descriptions Continued Mode Description Fast Shutdown For an axis configured for a Fast Shutdown the MGS instruction initiates a Fast Stop and then applies the equivalent of a Motion Axis Shutdown MASD instruction to the axis This action turns the appropriate axis driver output oFF disables the servo loop opens any associated motion module s OK contacts and places the axis into the Shutdown state When a Fast Shutdown is used to stop a M
117. output bit by specifying the characteristics of each actuator The array indices correspond to the output bit numbers The number of the highest compensated output bit defines the minimum size of this array Changes to the output compensation take effect immediately Refer to the description of the OUTPUT_CAM Structure on page 357 for more information on all of the data types and programming units Figure 29 shows the effect of the output compensation on the relationships between the axis input and output Figure 29 Output Compensation Relationships Position Offset amp Delay Latch amp Unlatch Mode Compensation Operation Compensation Output Bit it Enable Bi Input Bit 0 31 Enable Output Bit 0 31 Inversion Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 Specifying the output compensation includes setting the position time and mode compensation Offset and Delay Compensation The offset provides position compensation while the latch and unlatch delay provides time delay compensation for the latch and unlatch operation Figure 30 shows the effect of the compensation values on an Output Cam element Figure 30 Effects of Compensation Values Cam Position Offset t Position Latch Offset Unlatch Offset Compensated Cam Position The cam range is defined by the le
118. photoeye is a BOOL tag and your specification says If IF photoeye THEN photoeye_1is on then NOT BOOLtag If photoeye is a BOOL tag and your specification says If IF NOT photoeye THEN photoeye is off then expression1 amp expression2 If photoeye is a BOOL tag temp is a DINT tag and your specification says If photoeye is on and temp is less than 100 then IF photoeye amp temp lt 100 THEN expression OR expression2 If photoeye is a BOOL tag temp is a DINT tag and your specification says If photoeye is on or temp is less than 100 then IF photoeye OR temp lt 100 THEN expression XOR expression2 If photoeye1 and photoeye2 are BOOL tags and your specification says If photoeye1 is on while photoeye2 is off or photoeye is off while photoeye2 is on then IF photoeye1 XOR photoeye2 THEN BOOLtag expression amp expression2 Table 176 Bitwise Operator Example Situation If photoeye1 and photoeye2 are BOOL tags open is a BOOL tag and your specification says If photoeye1 and photoeye2 are both on set open to true Use Bitwise Operators open photoeye1 amp photoeye2 Bitwise operators manipulate the bits within a value based on two values Table 175 Bitwise Operators For Use this Operator Optimal Data Type bitwise AND amp AND DINT bitwise OR OR DINT bitwise exclusive OR XOR DINT bitwise compleme
119. profile is always used for the deceleration regardless of the programmed profile type The MGS instruction initiates the same programmed stopping action that is automatically applied when the processor s operating system changes operating mode for example Run Mode to Program Mode This is particularly useful in designing custom motion fault handlers If the MGS Stop Mode parameter is set to Fast Stop each axis in the group is forced to perform a Fast Stop process regardless of the configured Programmed Rockwell Automation Publication MOTION RMOO2E EN P July 2015 197 Chapter 3 198 Motion Group Instructions MGS MGSD MGSR MGSP Stop Mode Each axis in the group is decelerated at the Maximum Deceleration rate and once stopped the axis is left in the Servo Active state If the MGS Stop Mode parameter is set to Fast Disable each axis in the group is forced to perform a Fast Disable process regardless of the configured Programmed Stop Mode Each axis in the group is decelerated at the Maximum Deceleration rate and once stopped placed into the Axis Ready servo inactive and drive disabled state The MGS instruction currently supports five Programmed Stop Action modes e Fast Stop e Fast Disable e Hard Disable e Fast Shutdown e Hard Shutdown Each axis can be configured to use any of these five stop modes The following is a description of the effect of each these five stopping modes as they apply to an individual a
120. programmed in either units of seconds or percentage of time TIP Time based planning cannot be used for jogged moves MAJ Rockwell Automation Publication MOTION RMOO2E EN P July 2015 323 Chapter 6 324 MDSC Functionality Time Based Planning is only functional for moves starting and ending at zero velocity An error generates if a move is started with a non zero velocity or acceleration You have the option to wake up a paused or dwelling move with a time based move See Dwells on page 324 for more information The values of zero for acceleration deceleration or jerk times are permitted and will generate infinite acceleration deceleration or jerk A value of zero for speed generates a runtime error For an S curve profile an infinite jerk will change to a trapezoidal profile All the existing functionality for the Time Based programming mode is supported when you operate in Master Driven mode Time becomes master distance in Master Driven mode IMPORTANT Time based planning is not implemented for coordinated moves in Logix Designer application version 20 Dynamics in seconds are incompatible with Merge Speed Current This will result in error 94 MDSC_UNITS_ CONFLICT Dwells You have the option to program a dwell by using Time Based Programming in either Time Driven mode or Master Driven mode When a zero length move is programmed the duration of the dwell is programmed in the Speed parameter and the Acceleration
121. requires an optional attribute that is not Optional attribute not supported by the integrated motion drive being used supported Executing a MDS instruction on a CIP Velocity Loop with Feedback axis associated with a Kinetix 6500 drive errors The instruction requires an optional attribute that is not currently supported The MDS instruction is not supported by the drive type 87 The instruction is invalid while running direct controlled motion Not Allowed While In Direct Motion 88 The instruction is invalid while running planned motion Not Allowed While Planner Active 93 A move was programmed in MDSC mode before the MDSC link has been established MDSC Not Activated by the execution of a MDAC or MDCC 94 Pe dynamics units belong to Master Driven Mode and some to Time Driven MDSC Units Conflict ode e Some units are time based whereas others are velocity based for example Speed in Seconds and Acceleration in units sec e Incompatibility of units Dynamics in Seconds are incompatible with Merge Speed Current 95 e All instructions in the queue must use a compatible Lock Direction for example MDSC Lock Direction Conflict Position Forward Only and Immediate Forward Only If you change from Time Driven mode to Master Driven mode while an axis is Lock Direction None and speed units belong to Master Driven Mode moving and Lock Direction is not Immediate Forward or Reverse you will get error 95 MDSC Lock Direction C
122. than 0 or greater than 3 and the latch or unlatch type is set to Enable Position and Enable or Duration and Enable Enable bit less than 0 or greater than 31 and the latch or unlatch type is set to Enable Position and Enable or Duration and Enable Latch type is set to Inactive and unlatch type is set to either Duration or Duration and Enable 37 Varies Either the size of the Output Illegal Output The array index associated with errors 36 and 37 are stored in SEGMENT of the Compensation array is not supported Compensation Motion Instruction data type Only the first of multiple errors are stored The or the value of one of its members is specific error detected is stored in Extended Error Code out of range With the ability to dynamically modify the Output Cam table the Illegal Output Cam error 36 can occur while the MAOC is in process In general the cam elements in which an error was detected will be skipped The following are exceptions and will continue to be processed Error 2 Latch Type Invalid Latch Type defaults to Inactive Error 3 Unlatch Type Invalid Unlatch Type defaults to Inactive Error 8 with Unlatch Type of Duration and Enable Will behave as an Enable Unlatch type 53 Varies Inhibited axis Trying to initiate an MAOC on an inhibited axis Rockwell Automation Publication MOTION RMOO2E EN P July 2015 253 Chapter 4 254 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC MAOC Changes to St
123. the Instruction This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it executes only on a transition For more information see Structured Text Programming on page 359 Programming Guidelines These are programming guidelines for the MCD instruction Changing Move Dynamics When a Motion type of Move is entered or chosen the speed acceleration and or deceleration of a Move in progress can be changed to the specified value The speed change occurs at the specified acceleration rate if the new speed is higher than the current speed or at the specified deceleration rate if the new speed is lower than the current speed Pausing Moves The MCD instruction can be used to temporarily pause a move in progress by changing its speed to zero Use another MCD instruction with a non zero speed value to complete the move as originally specified Rockwell Automation Publication MOTION RMOO2E EN P July 2015 137 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Changing Jog Dynamics When a Motion type of Jog is entered or chosen the speed acceleration and or deceleration of a Jog in progress can be changed to the specified value The speed change occurs at the specified acceleration rate if the new speed is higher than the current speed or at the speci
124. the active state of the output bit The output bit is reset when the output of the latch and unlatch operation becomes inactive The output bit is pulsed when the output of the latch and unlatch operation is active The on duty state of the pulse corresponds to the inactive state of the output bit The output bit is set when the output of the latch and unlatch operation becomes inactive Figure 31 shows the effect of the mode cycle time and duty cycle on an output bit Figure 31 Mode Effects on an Output Bit Output Bit Compensated Output Bit Normal Inverted Pulsed Inverted and Pulsed ca Time On Duty Time i i i 1 i Cyde Time i On Duty Time Duty Cyde x 100 Cyde Time 250 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Output Compensation Array Checks Chapter 4 The following output compensation array checks are used with the MAOC instruction If you select Alatch and unlatch delay combination that results in a compensated cam of less than minimum width Then The width of the compensated cam is set to the minimum A mode less than 0 or greater than 3 ANormal mode is considered and you are warned with an instruction error Illegal Output Compensation A duty cycle less than 0 or greater than 100 and the mode is set to Pulsed or Inverted and Pulsed AO or 100 duty cycl
125. the rung that contains the motion instruction becomes true the controller does the following e Sets the enable EN bit e Clears the done DN bit e Clears the error ER bit e Clears the process complete PC bit e Sets the in process IP bit Rockwell Automation Publication MOTION RMO02E EN P July 2015 29 2 The controller initiates the motion process If The controller does not detect an error when the instruction executes Then the controller e Sets the DN bit Sets the in process IP bit The controller detects an error when the instruction executes e Sets the ER bit Stores an error code in the control structure The controller detects another instance of the motion instruction Clears the IP bit for that instance The motion process reaches the point where the instruction can be executed again Sets the DN bit For some process type instructions like MAM this occurs on the first scan For others like MAH the DN bit is not set until the entire homing process is complete One of the following occurs during the motion process e The motion process completes Another instance of the instruction executes e Another instruction stops the motion process e Amotion fault stops the motion process Clears the IP bit 3 After the initiation of the motion process the program scan can continue The remainder of the instruction and the control process continue in p
126. the same as those for the relay ladder MAPC instruction For the array operands you do not have to include the array index If you do not include the index the instruction starts with the first element in the array 0 Enter your selection for the operands that require you to select from available options Table 61 MAPC Structured Text Operand Descriptions This Operand Has These Options That You Enter as Text Or Enter as a Number ExecutionMode once 0 continuous 1 persistent 2 ExecutionSchedule immediate 0 pending 1 forwardonly 2 reverseonly 3 bidirectional 4 MasterReference actual 0 command 1 MasterDirection bidirectional 0 forwardonly 1 reverseonly 2 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 159 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV MAPC MOTION_INSTRUCTION Structure Table 62 MAPC Motion_Instruction Structure Descriptions Enumerations Description EN Enable Bit 31 The enable bit is set when the rung transitions from false to true and stays set until the rung goes false DN Done Bit 29 The done bit is set when the axis position cam instruction is successfully initiated ER Error Bit 28 The error bit indicates when the instruction detects an error such as if the axis is not configured IP In Process Bit 26 The In Process bit is set on positive rung transition and cleared if either superseded by another M
127. the value if the Profile is configured as S curve Use this value to get started Accel Jerk 100 ChangeDecelJerk No enumeration 0 No 1 Yes DecelJerk No enumeration Immediate Tag You must always enter a value Decel Jerk operand This instruction only uses the value if the Profile is configured as S curve Use this value to get started Decel Jerk 100 SpeedUnits unitspersec 0 ofmaximum 1 AccelUnits unitspersec 0 ofmaximum 1 DecelUnits unitspersec 0 ofmaximum 1 JerkUnits Unitspersec 0 ofmaximum 1 oftime 2 MCD MOTION_INSTRUCTION Structure Table 51 MCD Motion_Instruction Structure Descriptions Enumerations Description EN Enable Bit 31 It is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Blt 29 It is set when axis change dynamics has been successfully initiated The instruction execution completes in a single scan and the DN bit is set immediately ER Error Bit 28 It is set to indicate that the instruction detected an error such as if you specified an unconfigured axis Description The MCD instruction changes the speed of trapezoidal profile moves on the fly and the speed acceleration and deceleration of trapezoidal profile jogs on the fly Choose the desired physical axis and type of motion and enter values or tag variables for the Speed Accel and Decel Spee
128. to a specified axis position while the axis is moving such as activating a solenoid to push a carton off a conveyor at a certain axis position Select or enter the desired physical axis the desired Trigger Condition and enter a value or tag variable for the desired Watch Position If the targeted axis does not appear in the list of available axes the axis has not been configured for operation Use the Tag Editor to create and configure a new axis When an Arm Watch Position instruction is executed the WatchEventStatus bit is set to 0 FALSE and the actual position of a physical axis is monitored at the servo loop update rate until it reaches the specified Watch Position After the watch position event occurs the WatchEventStatus bit for the axis is set to 1 TRUE Multiple watch position events can be active at a given time however only one can be active at a time for any given physical axis Each event is monitored independently and can be checked by using the appropriate WatchEventStatus bit IMPORTANT In large 1 0 connections force values can slow down the rate at which the controller processes repetitive watch positions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 Executing the Instruction To successfully execute a MAW instruction the targeted axis must be configured as either a Servo or Feedback Only axis The MAH instruction also app
129. top of electronic gearing for phase advance and retard control Choose a Move Type for a Rotary Axis Example Description Absolute move to 225 The direction depends on With an Absolute move the direction of travel depends on the current the starting position of the axis position of the axis and isn t necessarily the shortest path to the end position Starting positions less than the end position result in motion in the positive direction while starting positions greater than the end position result in motion in the negative direction The specified position is interpreted trigonometrically and can be positive or negative It can also be greater than the Position Unwind value Negative position values are equivalent to their corresponding positive values and are useful when rotating the axis through 0 For example 90 is the same as 270 When the position is greater than or equal to the Position Unwind value the axis moves through more than one revolution before stopping at an absolute position Incremental The specified distance is interpreted trigonometrically and can be positive or negative It can also be greater than the Position Unwind value When the distance is greater than the Position Unwind value the axis moves through more than one revolution before stopping Rockwell Automation Publication MOTION RMOO2E EN P July 2015 117 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MC
130. values use a range of values for a selector because a REAL value is more likely to be within a range of values than an exact match of one specific value Table 180 CASE 0F Operand Descriptions Operand Type Format Enter numeric_expression SINT Tag tag or expression that evaluates to a number INT Expression numeric expression DINT REAL selector SINT Immediate same type as numeric_expression INT DINT REAL Rockwell Automation Publication MOTION RMOO2E EN P July 2015 375 AppendixC Structured Text Programming specify as many alternative selector values paths as you need optional 376 Description The syntax is as follows CASE numeric_expression OF selector lt statement gt selector lt statement gt selector3 lt statement gt lt statement gt END_CASE lt q __ statements to execute when numeric_expression selector1 Statements to execute when numeric_expression selector2 q statements to execute when numeric_expression selector3 q statements to execute when sal numeric_expression any selector This is the syntax for entering the selector values Table 181 Selector Values Syntax When Selector Is one value Enter value statement multiple distinct values value1 value2 valueN lt statement gt Use a comma to separate each value a range of values value1 valueN lt statement gt Use two periods to id
131. velocity profile The tuning procedure will measure maximum acceleration and deceleration rates based on ramps to and from the Tuning Speed Thus the accuracy of the measured acceleration and deceleration capability is reduced by tuning at a speed other than the desired operating speed of the system The axis configuration parameters that the MRAT instruction generates as output for CIP axes are shown in this table Axis Parameter Data Type Units Meaning Tune Status Integer The Tune Status attribute returns status of the last run Inertia Test service that initiates a process on the targeted drive axis Tune Accel Time Real Seconds Measured Acceleration time in seconds of the Tuning profile Tune Decel Time Real Seconds Measured deceleration time in seconds of the Tuning Profile Tune Accel Real Position Units sec Measured Acceleration of the Tuning profile Tune Decel Real Position Units sec Measured Deceleration of the Tuning profile Tune Inertia Mass Real Motor Rated The estimated inertia or mass for the axis as calculated Motor Units Sec from the measurements made during the tuning process Tune Friction Real Rated The amount of friction measured during Tuning profile This value can be used to configure the Friction Compensation feature of the drive Tune Load Offset Real Rated This value represents the active load offset measured during the Tune profile This value can be used to se
132. 0 MAPC Relay Ladder Operand Descriptions Continued Operand Type Format Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Description Cam Lock Position REAL Immediate Tag This determines the starting location in the cam profile Master Reference DINT Immediate Sets the master position reference to either Command position or Actual position If Pending is selected for the Execution Schedule value then Master Reference is ignored 0 Actual slave axis motion is generated from the current position of the master axis as measured by its encoder or other feedback device 1 Command slave axis motion is generated from the desired or commanded position of the master axis Master Direction DINT Immediate This determines the direction of the master axis that generates slave motion according to the cam profile Options are 0 Bidirectional default slave axis can track the master axis in either direction 1 Forward only slave axis tracks the master axis in the forward direction of the master axis 2 Reverse only slave axis tracks the master axis in the opposite direction of the master axis Structured Text MAPC SlaveAxis MasterAxis MotionControl Direction CamProfile SlaveS cali ng MasterScaling ExecutionMode ExecutionSchedule MasterLockPosition Cam LockPosition MasterReference MasterDirection The operands are
133. 0 acceleration 40 T The axis speeds back up as soon as you start the jog again The axis continues to slow down until the S curve profile brings the acceleration rate to zero Corrective Action e Ifyour controller is revision 15 or earlier increase the deceleration rate of the Motion Axis Jog MAJ instruction that starts the jog This increases the deceleration jerk The axis stops the deceleration sooner at the higher deceleration jerk e If your controller is revision 16 or later increase the deceleration jerk of the Motion Axis Jog MAJ instruction that starts the jog The axis stops the deceleration sooner at the higher deceleration jerk Rockwell Automation Publication MOTION RM002E EN P July 2015 337 Chapter8 Analyzing Axis Motion Axis Reverses Direction When Stopped and Started completely you restart the jog The axis continues to slow down and then reverse direction Eventually the axis changes direction again and moves in the programmed direction While an axis is jogging at its target speed you stop the axis Before the axis stops IMPORTANT You shouldn t see this situation in revision 16 and later See Corrective Action Revision 16 and later on page 341 Table 154 Axis Reverse Direction Example You execute a Motion Axis Stop MAS instruction to stop a jog While the axis is slowing down you execute a Motion Axis Jog MAJ instruction to start the axis again The axis continues to slow down and then
134. 0 serial_control END _IF the ABL instruction will execute every scan that tag_xic is set not just when tag_xic transitions from cleared to set If you want the ABL instruction to execute only when tag_xic transitions from cleared to set you have to condition the structured text instruction Use a one shot to trigger execution osri_1 InputBit tag_xic OSRI osri_1 IF osri_1 OutputBit THEN ABL 0 serial_ control END_IF Rockwell Automation Publication MOTION RMOO2E EN P July 2015 369 AppendixC Structured Text Programming Constructs Constructs can be programmed singly or nested within other constructs Table 178 Programming Constructs If You Want To Use This Construct Available in These Languages Page do something if or when specific conditions occur IF THEN structured text 371 select what to do based on a numerical value CASE OF structured text 375 do something a specific number of times before doing anything else FOR DO structured text 378 keep doing something as long as certain conditions are true WHILE DO structured text 381 keep doing something until a condition is true REPEAT UNTIL structured text 384 370 Key Words Reserved for Future Use These constructs are not available e GOTO e REPEAT Logix Designer programming software does not let you use them Rockwell Automation Publication MOTION RMOO2E EN P July 2015 IF THEN optional optional Structured
135. 1 Relay Ladder MR Motion Redefine Position Axis Axis E Motion Control MRP_1 Type Absolute T Position Select Actual Position 75 Structured Text MRP Axisl1 MRP_1 Absolute Actual 75 Rockwell Automation Publication MOTION RM002E EN P July 2015 149 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Motion Calculate Cam Profile The Motion Calculate Cam Profile MCCP instruction calculates a cam profile MCCP based on an array of cam points An array of cam points can be established programmatically or by use of the Logix Designer Cam Profile Editor Each cam point in the cam array consists of a slave position value a master position position cam or time time cam value and an interpolation type linear or cubic The resulting cam profile can be used by a Motion Axis Position Cam MAPC instruction or Motion Axis Time Cam MATC instruction to govern the motion ofa slave axis according to master position or time Operands The MCCP instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MCC Motion Calculate Cam Profile Motion Control NDS Cam gt i D sei Length Start Slope End Slope Cam Profile Table 57 MCCP Relay Ladder Operand Descriptions Operand Type Format Description Motion control MOTION_INSTRUCTION Tag Structure used to access block status parameters Cam C
136. 13 MASD Relay Ladder Descriptions Operand Type Format Description Axis AXIS_CIP_DRIVE Tag The name of the axis to perform operation on AXIS_FEEDBACK AXIS_VIRTUAL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Structured Text MASD Axis MotionControl The operands are the same as those for the relay ladder MASD instruction MOTION_INSTRUCTION Structure Table 14 MASD Motion_Instruction Structure Descriptions Enumerations Description EN Enable Bit 31 It is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 It is set when the axis have been successfully set to Shutdown state ER Error Bit 28 It is set to indicate that the instruction detected an error such as if you specified an unconfigured axis Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 Description The MASD instruction directly and immediately disables drive output disables the servo loop and opens any associated OK contacts This action places the axis into the Shutdown state Another action initiated by the MASD instruction is the clearing of all motion processes in progress and the clearing of all the motion status bits Associated with t
137. 2015 91 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Motion Axis Home MAH 92 Use the Motion Axis Home MAH instruction to home an axis Two different homing modes can be selected during axis configuration Active or Passive If an Active homing sequence is selected the axis executes the configured Home Sequence Type and establishes an absolute axis position If Passive homing is selected however no specific homing sequence is executed and the axis is left waiting for the next switch marker or switch marker pulse to establish the home position Operands The MAH instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MAH Motion Axis Home Axis Motion Control aaa Table 34 MAH Relay Ladder Operand Descriptions Operand Type Format Description Axis AXIS_CIP_DRIVE Tag Name of the axis to perform operation on AXIS_FEEDBACK AXIS_VIRTUAL AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Structured Text MAH Axis MotionControl The operands are the same as those for the relay ladder MAH instruction See Table 34 MAH Relay Ladder Operand Descriptions on page 92 For
138. 6 Either the size of the Output Cam array is not supported or the value of one of its Illegal Output Cam members is out of range ExErr 1 Output bit less than 0 or greater than 31 ExErr 2 Latch type less than 0 or greater than 3 ExErr 3 Unlatch type less than 0 or greater than 5 ExErr 4 Left or right position is out of cam range and the latch or unlatch type is set to Position or Position and Enable ExErr 5 Duration less than or equal to 0 and the unlatch type is set to Duration or Duration and Enable ExErr 6 Enable type less than 0 or greater than 3 and the latch or unlatch type is set to Enable Position and Enable or Duration and Enable ExErr 7 Enable bit less than 0 or greater than 31 and the latch or unlatch type is set to Enable Position and Enable or Duration and Enable ExErr 8 Latch type is set to Inactive and unlatch type is set to either Duration or Duration and Enable 37 Either the size of the Output Compensation array is not supported or the value of one Illegal Output Compensation of its members is out of range ExErr 1 Mode less than 0 or greater than 3 The array index associated with errors 36 and 37 are stored in SEGMENT of the ExErr 2 Cycle time less than or equal to 0 and the mode is set to Pulsed or Motion Instruction data type Only the first of multiple errors are stored The specific Inverted and Pulsed error detected is stored in Extended Erro
139. A The rung condition out is set to true Enableln N A Enabletn is always set The instruction executes Instruction execution See the following figure Postscan The rung condition out is set to false No action taken EN bit 0 Examine EN bit EN bit remains set Rung condition out remains set to true EN bit is set Instruction detects an error os ER bit is set Rung condition out remains true Rung condition out is set to true Processing runs to completion in Motion task EN bit remains set Function DN bit is set complete EN bit remains set DN bit remains clear ER bit remains clear Rung condition out is not affected EN bit remains set DN bit remains clear ER bit remains clear Rung condition out is not affected Rockwell Automation Publication MOTION RMO02E EN P July 2015 51 Chapter1 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Error Codes See Error Codes ERR for Motion Instructions on page 345 MASD Changes to Status Bits Bit Name State Meaning ServoActStatus FALSE The axis is in the axis ready state e The servo loop is inactive DriveEnableStatus FALSE The drive enable output is inactive ShutdownStatus TRUE The axis is in the shutdown state Motion Status Bits Table 15 MASD Motion Status Bits
140. AAT MRAT MAHD MRHD Description The MAHD instruction is used to execute a series of computations resulting in values for the Encoder Polarity and Servo Polarity configuration bit parameters of the specified axis As part of work performed by MAHD these resultant configuration bit parameters are applied to the motion module so that the axis is ready for full servo operation This instruction is designed to follow execution of the Motion Run Hookup Diagnostics MRHD instruction which generates axis input configuration values for the MAHD instruction MAHD requires specification of the Diagnostic Test to apply and the Observed Direction of motion during the previous Motion Run Hookup Diagnostics MRHD instruction test process Enter or select the Diagnostic Test and the Observed Direction and the desired physical axis If the targeted axis does not appear in the list of available axes the axis has not been configured for operation Use the Tag Editor to create and configure a new axis The MAHD instruction uses axis configuration parameters as input and output The input configuration parameters that MAHD uses are shown in the following table The Test Direction Forward bit is automatically established as output from the Motion Run Hookup Diagnostics MRHD instruction Axis Parameter Data Type Units Definition Test Direction Forward SINT Direction of axis travel during hookup test as seen by the motion module Motor Encod
141. AM Rockwell Automation Publication MOTION RMO02E EN P July 2015 MDSC Functionality Chapter 6 Motion Control The Motion Type and Master Reference bits are affected by the MDAC instruction Table 132 Bits Affected by the MDAC Instruction Operand MOTION_INSTRUCTION Tag Value Motion Type UNIT32 Immediate Tag Enumerations 0 All 1 Move 2 Jog 3 Time Cam 3 4 Master Offset Move Motion Type specifies the move type executing on the Slave Axis Move types include MAM MAJ MATC MAM or Master Offset Move for a Position Cam The Slave Axis that will be controlled by the Master Axis specified in the MDAC when a single axis motion instruction is programmed in Master Driven mode Master Reference UNIT32 Immediate Tag 0 Actual Position 1 Command Position Master Reference selects the Actual Position 0 or Command Position 1 of the master axis that will be used to control the salve axis in Master Driven Mode When the Motion type is set to All then the Master Driven mode applies to all single axis instructions that is MAM MAJ MATC and a MAM Master Offset Moye A runtime error is caused when switching from All to any other motion type and vice versa You must disable MDAC before performing switch from All to any other type and vice versa Rockwell Automation Publication MOTION RMOO2E EN P July 2015 301 Chapter6 MDSC Functionality You can assign the same Slave axis to two different Maste
142. AM Array Tag name of the cam array used to compute the cam profile The numerical array index indicates the starting cam element in the array used in the cam profile calculation Ellipsis launches Cam Profile Editor Length SINT DINT Immediate Determines the number of cam elements in the array used in the cam profile calculation Tag Start Slope REAL Immediate This is the boundary condition for the initial slope of the profile It is valid only for a cubic first segment and is used to Tag specify a slope through the first point End Slope REAL Immediate This is the boundary condition for the ending slope of the profile It is valid only for a cubic last segment and is used Tag to specify a slope through the last point Cam Profile CAM_PROFILE Array Tag name of the calculated cam profile array used as input to MAPC and MATC instructions Only the zero array element 0 is allowed for the Cam Profile array Ellipsis launches Cam Profile Editor Structured Text MCCP MotionControl Cam Length StartSlope EndSlope CamProfile The operands are the same as those for the relay ladder MCCP instruction For the array operands you do not have to include the array index If you do not include the index the instruction starts with the first element in the array 0 150 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 MCCP MOTION_I
143. ASD or MGSD is followed by a reset instruction that is initiated before the shutdown bit has been received by the shutdown instruction 43 You have tried to activate more motion instructions than the instruction queue can Coordinate System Queue Full hold 44 You have drawn a line with three 3 points and no centerpoint viapoint or plane Circular Collinearity Error centerpoint can be determined 45 You have specified one 1 point radius or drawn a line centerpoint viapointand no Circular Start End Error centerpoint radius or plane centerpoint viapoint can be determined 46 The programmed centerpoint is not equidistant from start and end point Circular R1 R2 Mismatch Error 47 Contact Rockwell Automation Support Circular Infinite Solution Error 48 Contact Rockwell Automation Support Circular No Solutions Error 49 R lt 0 01 R is basically too small to be used in computations Circular Small R Error 50 The coordinate system tag is not associated with a motion group Coordinate System Not in Group 51 You have set your Termination Type to Actual Position with a value of 0 This value is Invalid Actual Tolerance not supported 52 At least one axis is currently undergoing coordinated motion in another coordinate Coordination Motion In Process Error system Rockwell Automation Publication MOTION RMO02E EN P July 2015 347 Appendix A Error Codes ERR for Motion Instructions Table 156 Motion Instruction Error Codes Descri
144. ASR instruction the targeted axis must be configured as either a Servo or Feedback Only axis Otherwise the instruction errs The MASR instruction is a procedure type command that is processed from the Logix controller through the sercos module and to the associated drives For applications using a Logix controller with the Logix Designer application version 13 and earlier the DN bit of the instruction was set when the sercos module acknowledged the procedure request The drives acknowledged the command and processed it quickly To the user the DN bit operation appeared to indicate the successful completion of clearing faults almost immediately Rockwell Automation Publication MOTION RMO02E EN P July 2015 55 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR For applications using a Logix controller with the Logix Designer application version 15 and later current drive firmware versions have incorporated a new portion of the fault clearing mechanism that triggers a position recovery process in the drive that recalculates commutation This recalculation could result in the drive not in a ready state to go servo on for 0 5 to 5 seconds after the reset was performed To reflect this change in the instruction the DN bit operation was changed to wait for the drive to complete the reset procedure The end result is that you will not see a successful completion of clearing faults almost immediately as you can have in previ
145. An error occurred IP In Process Bit 27 The axis is moving Any of these actions stop this move and clear the IP bit The axis gets to the end Position e Another MAM instruction supersedes this MAM instruction MAS instruction Merge from another instruction Shutdown command Fault Action PC Process Complete Bit 27 The PC bit stays set until the rung makes a false to true transition The PC bit stays cleared if some other action stops the move before the axis gets to the end Position Description The MAM instruction moves an axis to either a specified absolute position or by a specified incremental distance The MAM instruction can also produce other special types of moves Figure 4 Trapezoidal Move Starting from Standstill Accel Speed Decel Velocity v End Time Endpoint a Time Distance Rockwell Automation Publication MOTION RM002E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 If you change move parameters dynamically by any method that is by changing move dynamics Motion Change Dynamics MCD instruction or Motion Coordinated Change Dynamics MCCD or by starting a new instruction before the last one has completed be aware of the risk of velocity and or end position overshoot ATTENTION Risk of Velocity and or End Position Overshoot A Trapezoidal velocity profile can overshoot if maximum deceleration is
146. Axis In this situation the TrackingMaster bit is first cleared and then it is set again in the new instruction status word when the Slave Axis starts tracking the new Master Axis again e The Slave Axis is stopped The Tracking Master is cleared as soon as the stop is initiated on the Slave Axis This bit is never set when LockDir NONE The Tracking Master bit on the Slave Axis is not affected by any operation for example MAS MCD on the Master Axis The Tracking Master bit is always cleared in Time Driven mode CalculatedDataAvailable 326 Indicates when the output data in the Calculated Data parameter has been updated and is available The CalculatedDataAvailable bit is not set for any move that Event Distance is not specified that is for any move where the Event Distance parameter in the instruction is zero this is not the value in the parameter array Rockwell Automation Publication MOTION RMO02E EN P July 2015 Chapter 7 Tune an S curve Profile Use this procedure to balance the smoothness and cycle time of motion that uses an S curve profile Perform this procedure when you want to decrease the cycle time of an S curve motion profile but keep some of the profile s smoothness Figure 42 Decrease the Cycle Time of an S curve Motion Profile i il il ji Speed O gt Acceleration More Jerk Jerk i i Cycle Time Shorter Cycle Time To use this procedure your application must me
147. Axis Axis E gt Motion Control MRAT_1 Structured Text MAR Axis1 MRAT_1 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 277 Chapter5 Motion Configuration Instructions MAAT MRAT MAHD MRHD Motion Apply Hookup Diagnostics MAHD 278 The Motion Apply Hookup Diagnostics MAHD instruction is used to apply the results of a previously run Motion Run Hookup Diagnostics MRHD instruction to generate a new set of encoder and servo polarities based on the Observed Direction of motion during the test As part of the application process the instruction updates the motion module with these new polarity settings After execution of the MAHD instruction and assuming that a stable set of gains has been established the corresponding axis should be ready for servo activation TIP The MAHD instruction is not supported for AXIS_CIP_DRIVE Operands The MAHD instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MAHD Motion Apply Hookup Diagnostics N gt Axis m i gt Motion Control R gt Diagnostic Test Observed Direction Table 115 MAHD Relay Ladder Descriptions Operand Type Format Description Axis AXIS_SERVO Tag Name of the axis to perform operation on AXIS_SERVO_DRIVE Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Diagnostic test DINT immediate Selects the specific test for the m
148. Axis Stop Axis Servo_Axis Motion Control Servo_Axis_MI Stop_Manual Jog Change Decel Yes Decel Rate Servo_Axis_Vars C Manual_Jog_Decel 20 0 Decel Units Units per sec2 Change Decel Jerk Yes Decel Jerk Servo_Axis_Vars C Manual_Jog_Decel_Jerk 100 0 Jerk Units of Time iss Less 90 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Jog Forward with Axis Stop Structured Text Pa Wa it_ForJog_Pushbutton Tran_006 Jog_Fwd PB amp Servo_Axis ServoActionStatus P1 J E a nually_Jo g_Axis_with_SC une AJ Servo_ Axis Servo_Axis MI Manual Jog 0 Servo_Axis Vars C Manual Jog Speed Unitspersec Servo_Axis Vars C Manual Jog Accel Unitspersecz Servo_Axis Vars C Manual Jog Decel Unitspersecz SCurve Servo Axis Vars C Manual Jog Accel Jerk Servo_Axis Vars C Manual Jog Decel Jerk tofTime Disabled Programmed Jog_with_SC urve Stop Sto p_M anual_Jog_of_Axis_with_SCurve AS Servo_ Axis Servo_Axis MI Stop Manual Jog Yes Servo_Axis Vars C Manual Jog Decel Unitspersecz Yes Servo_Axis Vars C Manual Jog Decel Jerk ofTime Tran_OO7 Not Jog Fwd PB Before the SFC leaves the step stop Servo_Axis The PO qualifier limits this to the last scan of i the step The SFC leaves the step when Jog_Fwd_PB turns off Rockwell Automation Publication MOTION RMO02E EN P July
149. Axis is NOT in Shutdown state MGSR Example When the input conditions are true the controller transitions all axes in group from the shutdown operating state to the axis ready operating state Relay Ladder MGSR Motion Group Shutdown Reset N gt Group Motion t Motion Control MGSR_3 R gt Structured Text MGSR Motion MGSR_3 Rockwell Automation Publication MOTION RMO02E EN P July 2015 209 Chapter3 Motion Group Instructions MGS MGSD MGSR MGSP Motion Group Strobe Position MGSP 210 Use the Motion Group Strobe Position MGSP instruction to latch the current Command and Actual Position of all axes in the specified group at a single point in time The latched positions are available in the StrobeActualPosition and StrobeCommandPosition parameters in the Motion Axis Object for each axis configured in the group Operands The MGSP instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MGS Motion Group Strobe Position No Group il i gt Motion Control R gt Table 82 MGSP Relay Ladder Descriptions Operand Type Format Description Group MOTION_GROUP Tag Name of the group of axes to perform operation on Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Structured Text MGSP Group MotionControl The operands are the same as those for the relay ladder MGSP instruction
150. Bit Combinations Compensated Cam Position Position Enable Bit Position Position Output Bit Inactive i Position i Position Position _ Position oO oa gt Position Enable Position ak Position Output bit initially set Output bit initially not set Unlatch Type Depending on the selected UnlatchType the corresponding output bit is reset according to the following table Table 99 Unlatch Type Behavior Unlatch Type Behavior Inactive The output bit is not changed Position The output bit is reset when the axis enters the compensated cam range Duration The output bit is reset when the duration expires Enable The output bit is reset when the when the enable bit becomes inactive Position and Enable The output bit is reset when the axis leaves the compensated cam range or the enable bit becomes inactive Duration and Enable The output is reset when the duration expires or the enable bit becomes inactive Figure 27 shows the effect of the selected unlatch type on the output bit for different compensated cam and enable bit combinations as function of position 246 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Figure 27 Effect of the Selected Unlatch Type on Position Compensated Cam Enable Bit Output Bit Inactive Position Enable Position and Enable Position _ po
151. CP MAPC MATC MCSV Table 43 Move Types for a Rotary Axis Continued Move Type Example Description Rotary Shortest Path Rotary Shortest Path move from 30 to 225 Important Only use a Rotary Shortest Path move if the Positioning mode of the axis is Rotary Rotary axis A Rotary Shortest Path move is a special type of absolute move for a Rotary axes The axis e moves to the specified Position in the shortest direction regardless of its current position e moves through 0 if needed With a Rotary Shortest Path move you e can start the move while the axis is moving or standing still e cannot move the axis more than one revolution with a single move Rotary Positive Rotary Positive move from 315 to 225 Important Only use a Rotary Positive move while the axis is standing still and not moving Otherwise the axis could move in the wrong direction A Rotary Positive move is a special type of absolute move for a Rotary axes The axis e moves to the specified Position in the positive direction regardless of its current position e moves through 0 if needed You cannot move the axis more than one revolution with a single Rotary Shortest Path move Rotary Negative Rotary Negative move from 45 to 225 Important Only use a Rotary Negative move while the axis is standing still and not moving Otherwise the axis could move in the wrong direction A Rotary Negative move is a special type of absolute
152. DSC_UNITS_CONFLICT Error 94 occurs if speed is programmed in units of seconds and acceleration deceleration or jerk is not programmed in seconds or of Time for jerk Path Fidelity The path fidelity remaining on path is maintained through the full range of Master dynamics of Speed Acceleration Deceleration and Jerk in Master Driven mode This means that the move path does not change as the Master speed is changed with an MCD There is no end position overshoot as the Master velocity is changed however if the Master velocity is changed extremely rapidly there can be a Slave velocity or acceleration or deceleration overshoot Rockwell Automation Publication MOTION RMOO2E EN P July 2015 325 Chapter6 MDSC Functionality Status Bits for Motion Instructions MAM MATC MAJ When MDAC is Active The following table describes the predefined data type status bits for motion instruction MAM MATC and MAJ Table 149 Status Bits for Motion Instructions when an MDAC Instruction is Active Bit Description EN Enable The Enable bit is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Timing done output Indicates when the accumulated time is greater than or equal to the preset value ER Error The Error bit is set to indicate that the instruction detected an error such as if you specified an unconfigured axis
153. Definition Encoder Polarity Negative DINT Inverts the sense of the encoder feedback input to the motion module Executing the Instruction To successfully execute a MAHD instruction running the Motor Encoder Test the targeted axis must be configured as either a Servo or Feedback Only axis type If any of these conditions are not met than the instruction errs IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 281 Chapter5 Motion Configuration Instructions MAAT MRAT MAHD MRHD MAHD Execution Conditions Condition Ladder Diagram Action Structured Text Action Prescan The EN DN ER IP and PC bits are cleared No action taken The rung condition out
154. E Axis is not Homing DirectVelocityControlStatus FALSE Axis is not under Direct Velocity Control DirectTorqueControlStatus FALSE Axis is not under Direct Torque Control MGSD Example When the input conditions are true the controller forces all axes in group into a shutdown operating state Relay Ladder MGSD Motion Group Shutdown n gt Group Motion ho Motion Control MGSD_2 Structured Text MGSD Motion MGSD_2 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 205 Chapter3 Motion Group Instructions MGS MGSD MGSR MGSP Motion Group Shutdown Reset MGSR 206 Use the Motion Group Shutdown Reset MGSR instruction to transition a group of axes from the shutdown operating state to the axis ready operating state Asa result of this command all faults associated with the axes in the group are cleared and any OK relay contacts of motion modules associated with the specified group are closed Operands The MGSR instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MGSR Motion Group Shutdown Reset e Group Ee D Motion Control R gt Table 80 MGSR Relay Ladder Descriptions Operand Type Format Description Group MOTION_GROUP Tag Name of the group of axes to perform operation on Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Structured Text MGSR Group MotionCont
155. E EN P July 2015 89 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Example 2 Jog Forward with Axis Stop Relay Ladder The operator uses a pushbutton to jog an axis The pushbutton turns the Jog_Fwd_PB tag on and off When the operator releases the button the MAS instruction stops the axis The MAS instruction uses an S curve profile to stop the axis because of the following e The Motion Axis Jog MAJ instruction uses an S curve profile e The Stop Type is Jog for the MAS instruction Jog_Fwd_PB Servo_Axis ServoActionStatus AJ S Motion Axis Jog EN Axis Servo_Axis Motion Control Servo_Axis_MI Manual_Jog DN3 Direction 0 ER Speed Servo_Axis_Vars C Manual_Jog_Speed 60 0 IP Speed Units Units per sec Accel Rate Servo_Axis_Vars C Manual_Jog_Accel 20 0 Accel Units Units per sec2 3 z Decel Rate Servo_Axis_Vars C Manual_Jog_Decel Same deceleration rate This prevents axis reversals if 0 the operator quickly goes back and forth between jog Decel Units Units per seed and stop Axis reversals can happen in revision 15 and k k Profile S Curve earlier when the jog and stop use an S curve profile Accel Jerk Servo_Axis_Vars C Manual_Jog_Accel_Jerk 100 0 Decel Jerk Servo_Axis_VYars C Manual_Jog_Decel_Jerk 100 0 Jerk Units of Time Merge Disabled Merge Speed Programmed Jog_Fwd_PB Servo_Axis_MI Manual_Jog IP S Motion
156. Enable Bit selected must be between 0 and 31 when LatchType or UnlatchType is Enable Position and Enable or Duration and Enable A value of less than 0 or greater than 31 results in an Illegal Output Cam error and the cam element is not considered Rockwell Automation Publication MOTION RM002E EN P July 2015 357 Appendix B Motion related Data Types Structures OUTPUT COMPENSATION The OUTPUT_COMPENSATION data type defines the details for each Structure output bit by setting the characteristics of each actuator OUTPUT_COMPENSATION contains the following members Table 164 OUTPUT_COMPENSATION Member Descriptions Enumerations Data Type Description Offset REAL Offset provides position compensation for both the latch and unlatch operations LatchDelay REAL Latch delay programmed in seconds provides time compensation for the latch operation UnlatchDelay REAL Unlatch delay programmed in seconds provides time compensation for the unlatch operation Mode DINT The Mode determines the behavior of the output bit The following four mode options are available A value of less than 0 or greater than 3 results in an Illegal Output Compensation error Value Description 0 Normal The output bit is set for the latch operation and is reset for the unlatch operation 1 Inverted The output bit is reset for the latch operation and is set for the unlatch the operation 2 Pulsed The output bit is set for
157. Format The 0B16IS communications format has been changed from it s default Scheduled Output Data per Point 81 Error on MGSR if a MASD or MGS programmed is executed while the MGSR is still in Partial Group Shutdown Reset process If your application program is actively executing an MGSR instruction and you try Do not overlap the MASD instruction or MGS stop instruction with Stop Mode to execute an MASD instruction or MGS stop instruction with Stop Mode Programmed on an active MGSR instruction Programmed on one of the axes affected by the active MGSR instruction you will see this error on the MGSR instruction 82 The axis was found to be in the incorrect operational axis state CIP axis in incorrect state 83 The MDS instruction cannot be performed due to control mode selection Illegal Control Mode or Method the MDS instruction is not valid in Position Loop or Feedback Only modes 84 The CIP drive device digital input is not assigned Drive Digital Input Not Assigned 85 Instruction not allowed when redefine position is in process Homing redefine position in progress Performing MAH while MRP is in process results in this instruction error An Active Redefine Position instruction is in process You would get this error if any of the motion planner instructions are executed while MRP is in progress Motion Instructions included are MAM MAJ MCLM MCCM MATC MAPC MDAC and MDCC 86 Current use of the MDS instruction
158. G 31 123 132 arithmetic status flags 129 changes to status bits 132 description 126 error codes 131 example 132 execution condition 130 extended error codes 131 fault conditions 129 operands 123 programming guidelines 127 Motion Axis Home MAH 31 92 98 arithmetic status flags 95 changes to status bits 98 description 93 error codes 97 execution conditions 96 fault conditions 95 operands 92 Motion Axis Jog MAJ 31 arithmetic status flags 105 changes to status bits 106 description 103 error codes 105 fault conditions 105 operands 99 Motion Axis Move MAM 31 111 121 arithmetic status flags 119 changes to status bits 120 description 114 error codes 120 example 121 fault conditions 119 operands 111 programming guidelines 114 Motion Axis Position Cam 395 Motion Axis Position Cam MAPC 31 156 177 arithmetic status flags 173 changes to status bits 176 changing the cam lock position 165 404 description 160 error codes 175 example 177 execution conditions 174 execution schedule 163 extended error codes 175 fault conditions 173 fault recovery 172 forward only reverse only or bidirectional execution 166 405 immediate execution 163 404 incremental moves 171 linear and cubic interpolation 161 master direction 170 master offset moves 171 master reference 169 merging from acam 172 moving while camming 171 operands 156 pending cam execution 167 scaling position cams 162 specifying the
159. ION RMOO2E EN P July 2015 Analyzing Axis Motion Chapter 8 Table 152 Axis Overshoots the Target Speed Cause When you use an S curve profile jerk determines how fast an axis can change its acceleration and deceleration When the stopping instruction starts the controller recalculates jerk and builds a new S curve profile Ifthe stopping instruction uses a lower acceleration the jerk is lower It takes longer at the lower jerk to get acceleration to zero Inthe meantime the axis continues past its initial target speed The following trends show how the axis stops with a trapezoidal profile and an S curve profile Trapezoidal S curve 100 mm a R 12 35 56 PM 80 60 40 Fi speed goes past its target 20 0 20 acceleration 40 The axis slows down as soon as you start the stopping instruction The lower The stopping instruction reduces the acceleration of the axis It now takes acceleration doesn t change the response of the axis longer to bring the acceleration to zero The axis continues past its target speed until acceleration equals zero Corrective Action Use a Motion Axis Stop MAS instruction to stop the axis Or set up your instructions like this Jog_PB sLocal 4 Data 1 0 My_Axis_OK or use a lower acceleration Speed Units AJ Motion Axis Jog Axis My_Axis Motion Control Manual_Jog Direction 0 Use the same acceleration as t
160. Jog_Accel 20 0 Accel Units Units per sec2 Decel Rate Manual_Jog_Decel 20 0 Decel Units Units per sec2 Profile Curve Accel Jerk Manual_Jog_Accel_Jerk 100 0 Decel Jerk Manual_Jog_Decel_Jerk 100 0 Jerk Units of Time Merge Disabled Merge Speed Programmed The instruction that starts the C axis uses an S curve profile lt lt Less Jog_PB lt Local 4 Data 1 0 AS i Motion Axis Stop EN Axis My_Axis ol Motion Control Stop_Jog ER Stop Type Jog IP More gt The instruction that stops the axis keeps the S curve profile Choose a Motion Axis Stop MAS instruction with the Stop Type set to Jog In that case the axis keeps the profile of the Motion Axis Jog MAJ instruction that started the axis 336 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Analyzing Axis Motion Chapter 8 Table 153 Delay If a Jog Is Stopped and Restarted Cause When you use an S curve profile jerk determines how fast an axis can change its acceleration and deceleration e An S curve profile has to get acceleration to zero before the axis can speed up again The axis continues to slow down until the S curve profile brings the acceleration to zero The following trends show how the axis stops and starts with a trapezoidal profile and an S curve profile Trapezoidal S curve 100 12 17 03 PM 60 60 40 speed goes down until acceleration 20 0 2
161. LURE 12 Object Mode conflict 12 Axis is in shutdown SERVO_MESSAGE_FAILURE 12 Permission denied 15 Enable input switch error sercos SERVO_MESSAGE_FAILURE 12 Device in wrong state 16 Redefine Position Home and Registration 2 are mutually exclusive sercos device state not correct for action sercos MAAT Changes to Status Bits The MAAT instruction does not make any changes to the status bits MAAT Example When the input conditions are true the controller computes a complete set of servo gains and dynamic limits for axis based on the results of the previously executed Motion Run Axis Tuning MRAT instruction Relay Ladder MAAT Motion Apply Axis Tuning Axis Axis E v7 Motion Control MAAT_2 Structured Text MAAT Axis1 MAAT_2 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 267 Chapter5 Motion Configuration Instructions MAAT MRAT MAHD MRHD Motion Run Axis Tuning MRAT 268 Use the Motion Run Axis Tuning MRAT to command the motion module to run a tuning motion profile for the specified axis The tuning motion profile consists of one or more acceleration and deceleration ramps induced by applying fixed voltages to the servo s drive output Note that this instruction does not at any time close the servo loop While this instruction takes no explicit input parameters it does derive input from the Axis Tuning Configuration parameters The result of executing the MRAT i
162. MATC MCSV Jerk Operands Use the jerk operands when the instruction uses an S curve profile You must fill in the jerk operands regardless of the profile of Time Use of Time to program and tune jerk enter it as a of the acceleration or deceleration time For more information see Tune an S curve Profile on page 327 Cancel Motion with Merge If you want to add the jog to any motion already in process use the following e Merge Disabled e Merge Speed Programmed The instruction ignores Merge Speed but you must fill it in anyway End Motion from other Instructions If you want to end the motion from other instructions and you want to just jog at the speed that you set in this instruction use the following e Merge Enabled e Merge Speed Programmed If you want to end the motion from other instructions and jog at the speed that the axis is already moving at use the following e Merge Enabled e Merge Speed Current The Speed and Direction operands on the MAJ faceplate are ignored for MAJ for Merge current Direction parameter is ignored fora merge current Starting another Jog If you start anew MAJ instruction while one is already in process in revision 15 and earlier you can cause the following e An accelerating axis to overshoot its speed e A decelerating axis to reverse This happens if the MAJ instructions use an S curve profile The reason for this is that the new MAJ instruction cancels th
163. MATC MCSV Slave Axis Position Figure 11 Pending Cam Execution Accel Profile Operating Profile Decel Profile 15 X 7 N 2 N i Master Axis Profile By executing the position cam profile as a Pending cam profile while the current profile is still executing the appropriate cam profile parameters are set up ahead of time This makes the transition from the current profile to the pending profile seamless synchronization between the master and slave axes is maintained To ensure smooth motion across the transition however the profiles must be designed such that no position velocity or acceleration discontinuities exist between the end of the current profile and the start of the new one This is done by using the Logix Designer Cam Profile Editor Once a pending position cam instruction has been executed the new cam profile takes effect automatically and becomes the current profile when the master axis passes through either the start or end point of the current profile If the current cam is configured to execute once the new profile is initiated at the completion of the pass through the current cam profile and the PC bit of the currently active MAPC instruction is set If the current cam is configured to execute continuously the new profile is initiated at the completion of the current pass through the current cam profile and the IP bit of the currently active MAPC instruction is cleared
164. MATC MCSV Chapter 2 The Status member of the first element in the cam profile array is special and used for data integrity checks For this reason the MATC must always specify the cam profile with the starting index set to 0 This first cam profile element Status member can have the following values Table 68 MATC Status Member Value Descriptions Status Value Description 0 Cam profile element has not been calculated 1 Cam profile element is being calculated 2 Cam profile element has been calculated n Cam profile element has been calculated and is currently being used by n 2 MAPC or MATC instructions Before starting a cam on a specified axis the MATC instructions checks if the cam profile array has been calculated by checking the value of the first cam profile element s Status member If Status is 0 or 1 then the cam profile has not been calculated yet and the MATC instruction errors If the cam profile array has been completely calculated Status gt 1 the instruction then increments the Status member indicating that it is in use by this axis When the cam completes or terminates the Status member of the first cam profile array element is decremented to maintain track of the number of cams actively by using the associated cam profile Scaling Time Cams A time cam profile can be scaled in both time and distance when it is executed This scaling is useful to allow the stored profile to be used only for the
165. MAW The Disarm Watch Position instruction requires no parameters simply enter or select the desired physical axis If the targeted axis does not appear in the list of available axes the axis has not been configured for operation Use the Tag Editor to create and configure a new axis Executing the Instruction To successfully execute a MDW instruction the targeted axis must be configured as either a Servo or Feedback Only axis The MAH instruction also applies to CIP axes configured for Feedback Only Position Loop Velocity Loop or Torque Loop operation Otherwise the instruction errs IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 MDW Execution Conditions Condition Ladder Diagram Action Struc
166. MDAC in Rung 1 2 Start first move in Rung 2 No motion takes place 3 From Motion Direct command do an incremental MAM of 1 This results in a move of 11 units Merging in Incremental Mode The Merge for coordinated motion operates differently from a merge on a Motion Coordinated Linear Move MCLM instruction For the MAM any uncompleted motion at the point of the merge remains in the move For example assume that you have a single axis MAM programmed in incremental mode from a starting absolute position 0 and with the programmed incremental distance 4 units e Ifa merge occurs at an absolute position of 1 and the merge is another incremental move of 4 units the move completes at a position 8 e Ifthis example occurs on a Motion Coordinated Linear Move MCLM instruction programmed in incremental mode the final position 5 For more information on how this merge occurs ona MAM programmed in incremental mode see page 120 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMO02E EN P July 2015 119 Chapter 2 Table 44 MAM Extended Errors Codes Error Codes Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV See Error Codes ERR for Motion Instructions on page 345 Extended Error Codes Use Extended Error Codes EXERR for more information about an error
167. MDAC is set because a MATC is active then the AC bit will be reset Stop Type All Reset AC bit for the MDAC is set because any single axis motion command is active then the AC bit will be reset MASD Reset MSF Not Changed MDF Not Changed Fault Action Status Only Not Changed Stop Motion Reset Disable DRV Reset Shutdown Reset If the same Slave Axis or a Slave Coordinate System is controlled by multiple Master Axes If one MDAC or MCCD relationship that contains the Slave or Slave Coordinate System is broken then all MDAC or MDCC relationships that contain the Slave or Slave Coordinate System will be broken The MDAC link is broken when the following instructions are executed on the slave axis e MAS All MCS All MGS MASD MCSD MGSD a mode change e The MAS anything other than All and MCS coordinated do not break the MDAC link Rockwell Automation Publication MOTION RMOO2E EN P July 2015 307 Chapter6 MDSC Functionality A mode change Rem Run to Rem Prog or Rem Prog to Rem Run or an axis fault also breaks the MDAC link For information on the MDCC instruction and the other coordinate instructions see the Coordinate System User Manual publication MOTION UMO002 Actions Taken When Stopping Shutdown Instructions are Executed on the Master Axis The following table identifies the change in state of the MDAC link between the master and slave axis as each instruction in c
168. MDO Axis MotionControl DriveOutput DriveUnits The operands are the same as those for the relay ladder MDO instruction Enter your selection for the operands that require you to select from available options This Operand Has These Options Which You Enter as Text Or Enter as a Number Volts Percent MOTION_INSTRUCTION Structure DriveUnits Table 19 MDO Motion_Instruction Descriptions Enumerations Description EN Enable Bit 31 It is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 It is set when the axis drive enable bit is activated and the specified analog output is successfully applied ER Error Bit 28 It is set to indicate that the instruction detected an error such as if you entered a Drive Output value that was too large Description For motion modules with an external servo drive interface like the 1756 M02AE or 1784 PM02AE the MDO instruction can be used to directly enable the Drive Enable output of the axis and set the analog output to a specified level determined by the Drive Output parameter The Drive Output parameter can be expressed as a voltage or as a percent of the maximum configured output voltage value given by the Output Limit attribute The MDO instruction can only be used on a physical axis whose Axis Type is configured for Servo The instruction only exe
169. MSF MASD MASR MDO MDF MDS MAFR Table 6 Operating States of a CIP Axis Operating State In RSLogix 5000 programming software Description Faulted 8 The faulted state is identical to the Stopped state or the Shutdown state with the exception that there are one or more faults active Faults are latched conditions Therefore a Fault Reset is required to clear the faults and assuming the original fault condition has been removed the axis transitions to the Axis State of the drive Fault Description CIP Initialization Faults Faults that occur when the drive transitions out of the Initializing state These faults can apply to a specific axis or the entire drive CIP Axis Faults Faults that apply to a specific axis and are the direct result of Axis Exceptions configured to generate a Fault response Axis exceptions are run time conditions that are related to Motor Inverter Converter Bus Regulator and Feedback components Safety Fault Faults that apply to a specific axis and are generated by a fault condition detected in the drive s safety monitor functionality A Safety Fault always results in the axis transitioning to the Stopped state Motion Fault Faults generally associated with fault conditions generated by the motion planner function These faults can include conditions related to the input for example actual position or output for example command position signals Module Fault Faults th
170. Meaning It determines the direction of the motion profile initiated by the Inertia Test service associated with the MRAT instruction 0 Unidirectional Forward 1 Unidirectional Reverse 2 Bidirectional Forward 3 Bidirectional Reverse Tuning Travel Limit Real Position Units It is used by the Inertia Test service associated with the MRAT instruction to limit the excursion of the axis during the test Tuning Speed Real Position Units sec The Tuning Speed attribute value determines the maximum speed used by the Inertia Test service initiated motion profile This attribute should be set to the desired maximum operating speed of the motor prior to running the test Tuning Torque Real Rated It determines the maximum torque used by the Inertia Test service initiated motion profile This attribute should be set to the desired maximum safe torque level prior to running the test The default value is 100 which yields the most accurate measure of the acceleration and deceleration capabilities of the system Damping Factor 272 Real It is used in calculating the maximum Position and Velocity Servo Bandwidth values during execution of the MRAT instruction The input configuration parameters can also be set in Axis Properties se Axis Properties Axis_04 Categories General A Calculate Gains using Measured Inertia Motor Mode Anal Motor Feedba Scaling Hookup Tests Polar
171. Motion Apply Axis Tuning MAAT 0c eee cece eee eee 261 Operands oe ite eet dre neia He eee ee EAS 262 Description su atuti noes bee boa oar E ease Seow Rees 263 Arithmetic Status Flags 5 sus aS rlatienioala eng ds Soe peR nea 265 Fault Conditions ac ordctodnitenmnee dain pO cowteacode aman dacen 265 MAAT Execution Conditions cccccececeeeeeecece 266 EROr Od E EE oh eo sees Uae aie derel es ea 267 MAAT Changes to Status Bits lt 0 cinseagicatesetenaisanas 267 MAAT Examples ertan aa a a e a Yok oc 267 Motion Run Axis Tuning MRAT oi scssin eh neaasdereeaeey lt 268 Operands for sou gutine add pee Guan sega O ER A ase RRS 268 Description AXIS_SERVO AXIS_SERVO_DRIVE 269 Description AXIS_CIP_DRIVE eccese te ibaa tiie ew eet pease 272 Tune Status Parameter 0 ccc ccc cece etc e ete ence neees 274 Arithmetic Status Flags sss scsss ees hissy mobs her sedh ase orea ks 275 Fault CONCHIHONS Siacasitainl oat BO oY ae tad eek Cat oe ia oll ot 275 MRAT Execution Conditions 0 00 cece ce eeeeeeeee 276 Error Codes menerai D aa aU oa that nad orate aimed ont 277 Rockwell Automation Publication MOTION RMO02E EN P July 2015 17 Table of Contents MRAT Changes to Status Bits 0 0 c cee cee cee eee eee 277 MRAT Pixar plese re iiaa e erla EE a TENETE Sala 277 Motion Apply Hookup Diagnostics MAHD 64 278 Operands serae eon E r aa r A RI a EN 278 Description i tase rennin
172. N P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Table of Contents Chapter 2 Motion Axis Stop MAS 3 c5 00c0ciuadis Weave edie aS 82 Operihdes s7 ins Ge ea anita O Bien ea eee 82 DeScriprions 46 ioadssine eG s 2572658 ca ek dse ase ese has aoe 85 Programming Guidelines ones wartwuwane ric idhoorerawewewnaaents 86 Arithmetic Status Flags lt a ih dec awtened eco ue oaretuacaiee 87 Fault Conditions sik ould ceteris ears I Gi tet ated tek 87 MAS Error Codear anha ora teres hae a tote ae EG eS cheater 87 MAS Changes to Status Bitsic csn oieuoks Searkian es eee etiews 88 Example l cin ete heh ets ee et ae 89 Pimple 2223 ra n EEE A I EE ay Paenee 90 Motion Axis Home MATL cco eciiitnli eet Ma eete eee eas 92 Operands xiondedeteit ieee tit cor a molt th octet tdcen 92 Description i aan teach eae teed Scie ku Wako eterna ay a 93 Programming Guidelines ocwhswiaekmgnind mp vyeaye eeee ew nance 95 Arithmetic Status Flags sc tiene 2 teh he Orit ae eee cuales 95 Panle Conditions ere eo wens oon Sakae Saket ees 95 MAH Execution Condition 0 cccecccsececeeescnees 96 MAH Frror COGS sosis repena oi diced esta PRs 97 MAH Changes to Status Bits a yaya sceuseRekics getindee dryer ets 98 Motion Axis Jog MAN isd c25uecen sal nen cone canaeeases Sas Peers 99 OM EMINGS eenean AA E E A a A 99 Descriptio ete a a e a a a ee Mid 103 Programming Guidelines n n esses tod a ode open
173. NSTRUCTION Structure Table 58 MCCP Motion_Instruction Structure Description Enumerations Description EN Enable Bit 31 The enable bit is set when the rung transitions from false to true and stays set until the done bit is set and the rung goes false DN Done Bit 29 The done bit is set when the calculate cam instruction has been successfully executed and the Cam Profile array calculated ER Error Bit 28 The error bit indicates when the instruction detects an error such as if the cam array is of an illegal length Description The MCCP instruction computes a cam profile based on a given set of points ina specified cam array The Cam array elements consist of slave yp and master xp point pairs as well as an interpolation type Because there is no association with a specific axis position or time the x and y point values are unitless The interpolation type can be specified for each point as either linear or cubic The resultant cam profiles generated by this instruction can be used by subsequent Motion Axis Position Cam MAPC on page 156 or Motion Axis Time Cam MATC on page 178 camming instructions to provide complex motion of a slave axis with respect to either a master axis position or with respect to time Because cam profiles can be directly calculated by the Logix Designer Cam Profile Editor the main purpose of the MCCP instruction is to provide a method for calculating cam profiles in rea
174. OO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 Description The MDR instruction cancels registration event checking established by a previous Motion Arm Registration instruction Only the registration checking associated with the specified registration input is disabled If the targeted axis does not appear in the list of available axes the axis has not been configured for operation Use the Tag Editor to create and configure a new axis Executing the Instruction To successfully execute a MDR instruction the targeted axis must be configured as either a Servo or Feedback Only axis The MAH instruction also applies to CIP axes configured for Feedback Only Position Loop Velocity Loop or Torque Loop operation Otherwise the instruction errs IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Er
175. P MAPC MATC MCSV Chapter 2 MAS MOTION_INSTRUCTION Structure Table 32 MAS Motion_Instruction Enumerations Description EN Enable Bit 31 The EN bit stays set until the process is complete and the rung goes false A false to true transition caused the instruction to execute DN Done Bit 29 The stop was successfully initiated ER Error Bit 28 An error occurred IP In Process Bit 27 The axis is stopping Any of these actions end the MAS instruction and clear the IP bit e Axis is stopped e Another MAS instruction supersedes this MAS instruction Shutdown command Fault Action PC Process Complete Bit 26 The axis stopped Description The PC bit stays set until the rung makes a false to true transition Use the MAS instruction when you want a decelerated stop for any controlled motion in process for the axis The instruction stops the motion without disabling the servo loop A trapezoidal profile is always used for MAS with Stop Type ALL for the deceleration regardless of the programmed profile type Use the instruction to do the following e Stop a specific motion process such as jogging moving or gearing e Stop the axis completely e Abort a test or tune process initiated by a Motion Run Hookup Diagnostics MRHD instruction or Motion Run Axis Tuning MRAT instruction A ATTENTION Risk of Velocity and or End Position Overshoot If you change move parameters dyn
176. REAL log base 10 LOG numeric_expression REAL degrees to radians RAD numeric_expression DINT REAL sine SIN numeric_expression REAL square root SQRT numeric_expression DINT REAL tangent TAN numeric_expression REAL truncate TRUNC numeric_expression DINT REAL These are some examples Table 171 Arithmetic Functions Example Situations Use This Format value1 operator value2 operator value1 Example For this Situation If gain_4 and gain_4_adj are DINT tags and your specification says Add 15 to gain_4 and store the result in gain_4_adj If alarm and high_alarm are DINT tags and your specification says Negate high_alarm and store the result in alarm You d Write gain_4_adj gain_4 15 alarm high_alarm function numeric_expression If overtravel and overtravel_POS are DINT tags and your specification says Calculate the absolute value of overtravel and store the result in overtravel_ POS overtravel_ POS ABS overtravel value operator function value2 value3 2 364 If adjustment and position are DINT tags and sensor and sensor2 are REAL tags and your specification says Find the absolute value of the average of sensor1 and sensor2 add the adjustment and store the result in position Rockwell Automation Publication MOTION RMO02E EN P July 2015 position adjustment ABS sensor1 sensor2 2 Structured Text Programming Appendix C Use
177. RR for Motion Instructions on page 345 MAW Extended Error Codes Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions The following Extended Error Codes help to pinpoint the problem when the MAW instruction receives a Servo Message Failure 12 error message Associated Error Code decimal Extended Error Code Meaning decimal SERVO_MESSAGE_FAILURE 12 No Resource 2 Not enough memory resources to complete request sercos MAW Changes to Status Bits Bit Name WatchEventArmedStatus TRUE The axis is looking for a watch position event WatchEventStatus FALSE The previous watch event is cleared MAW Example When the input conditions are true the controller arms watch position event checking for axis1 Relay Ladder MAW Motion Arm Watch Axis Axis E Motion Control MAW 1 Trigger Condition Forward Position fwdmvpos_1 OYE oY Structured Text MAW Axis1 MAW_1 Forward fwdmvpos_1 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 Motion Disarm Watch M DW Use the Motion Disarm Watch MDW instruction to disarm watch position event checking for an axis This instruction has the affect of clearing both the Watch Event Status and Watch Armed Status bits in the axis data structure Executing this instruction also clears the In Process b
178. Reference Manual Allen Bradley Logix5000 Controllers Motion Instructions Catalog Numbers 1756 ControlLogix 1756 GuardLogix 1768 CompactLogix 1789 SoftLogix Allen Bradley Rockwell Software Automation Important User Information Read this document and the documents listed in the additional resources section about installation configuration and operation of this equipment before you install configure operate or maintain this product Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes laws and standards Activities including installation adjustments putting into service use assembly disassembly and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice If this equipment is used in a manner not specified by the manufacturer the protection provided by the equipment may be impaired In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockw
179. Scaling value ofa profile is 2 the Master Scaling value should also be 2 to maintain approximately equal velocities and accelerations during execution of the scaled position cam ATTENTION Decreasing the Master Scaling value or increasing the Slave A N Scaling value of a position cam increases the required velocities and accelerations of the profile This can cause a motion fault if the capabilities of the drive system are exceeded Scaling Time Cam Profiles A time cam profile can be scaled in both time and distance when it is executed When an MATC instruction specifies a time cam profile array the master coordinate values defined by the cam profile array take on the time units and the slave values take on the units of the slave axis By contrast the Time and Distance Scaling parameters are unitless values that are simply used as multipliers to the cam profile Figure 50 Scaling Time Cam Profile Profile Scaled with Slave AXIS Distance Scaling Profile Scaled in Time Position and Distance Scaling Profile Scaled with Time Scaling Master Time Profile Stored in Cam Profile Array By default both the Time and Distance Scaling parameters are set to 1 To scale a time cam profile enter a Time Scaling or Distance Scaling value other than 1 Increasing the Time Scaling value of a time cam profile decreases the velocities and accelerations of the profile However increasing the Distance Scaling value increas
180. See the following figure postscan The rung condition out is set to false No action taken Examine EN bit ENO 0 EN bit is set Instruction detects an error EN bit remains set DN bit remains clear ER bit is set EN bit remains set Rung condition out remains set to true rung condition out remains true No Rung condition out is set to true Processing runs to completion in motion task EN bit remains set DN bit is set ER bit remains clear Rung condition out is not affected EN bit remains set DN bit remains clear ER bit remains clear Rung condition out is not affected Function complete Rockwell Automation Publication MOTION RMOO2E EN P July 2015 147 Chapter 2 148 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV MRP Error Codes See Error Codes ERR for Motion Instructions on page 345 MRP Extended Error Codes Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions The following Extended Error Codes help to pinpoint the problem when the MRP instruction receives a Servo Message Failure 12 error message Table 56 MRP Extended Error Code Description Associated Error Code decimal Extended Error Code Meaning decimal SERVO_MESSAGE_FAILURE 12 Device in wrong state 16 Redefin
181. Servo Off MSF 31 Motion Servo On MSO 31 39 42 Motion State Instructions Motion Servo Off MSF 47 Motion State Instructions Motion Servo Off MSF 43 MOTION_GROUP data type 354 MOTION_INSTRUCTION data type 356 MRP 405 Multi Axis Coordinated Motion Instructions 391 Introduction 392 multiple watch position events 218 no master axis 305 non linear motion 395 0 operational cam 167 185 OUTPUT_CAM data type 357 OUTPUT_COMPENSATION data type 358 P path fidelity 325 pending 403 405 407 408 411 position cam 411 pending cam 167 185 409 pending cams 400 point pair 394 position cam 401 404 409 411 position cam profile 395 419 Index 420 position lock cams 395 process motion instructions 29 profile 397 RampAcceleration 69 RampDeceleration 69 RamplJerk Control 69 RampVelocity Negative 69 RampVelocity Positive 69 reciprocating motion 393 reverse only 403 run 397 run cam 398 S salve axis 411 scaling 401 S curve profile troubleshoot 331 343 tune 327 329 slave actual 304 command 304 relationship 302 slave axis 393 397 404 acceleration cam profile 397 execution mode 403 move process 396 position values 395 time cam profile 396 slave axis position 409 slave1 298 speed unit 314 speed units 318 status bit 404 stopping on the slave 307 structured text programming 359 387 assignments 360 362 CASE OF 375 377 comments 387 contructs 370 expressions 362 368 FOR
182. This Manual 24 This manual provides information about each motion instruction Topic Instruction name Provides this type of information Identifies the instruction Defines whether the instruction is an input or an output instruction Operands Lists all the operands of the instruction Structured Text Describes the use of operands in Structured Text format Motion Instruction structure Lists control status bits and values if any of the instruction Description Describes the instruction s use Defines any differences when the instruction is enabled and disabled if appropriate Arithmetic status flags Defines whether or not the instruction affects arithmetic status flags Fault conditions Defines whether or not the instruction generates minor or major faults if so defines the fault type and code Error Codes Lists and defines the applicable error codes Status Bits Lists affected status bits their states and definitions Example Provides at least one programming example Includes a description explaining each example Rockwell Automation Publication MOTION RMO02E EN P July 2015 Preface Conventions and Related Terms This manual uses specific terms and conventions Set and Clear This manual uses set and clear to define the status of bits booleans and values non booleans The bit is set to 1 ON A value is set to any non zero number Clear The b
183. To prevent this Axis Position Overflow error Set up soft travel limits that keep the axis within the position range One way The range for position depends on the conversion constant of the axis to get more travel is to use the max negative or max positive position as your home position Example se Axis Properties My_Axis Homing Hookup Tune Dynamics Gains Output Limits Max 0 Max General Motion Planner Units Drive Motor Motor Feedback Positioning Mode Linear 3 20971520 Drive Counts 1 0 Position Units Conversion Constant 2097152 0 Based on 200000 Counts Motor Re If you set the home 0 is in the middle of the position here travel This gives you twice maximum positive position 2 147 483 647 conversion constant of the axis the travel that homing to 0 maximum negative position 2 147 483 648 conversion constant of the axis would give you i Choose a conversion constant of 2 097 152 counts inch In this case maximum positive position 2 147 483 647 2 097 152 counts inch 1023 Important This error code does not apply to a CIP axis inches You will get this error when an absolute MAM instruction is executed when the axis Maximum negative position 2 147 483 648 2 097 152 counts inch 1023 is beyond the max travel limit inches For a motion coordinated instruction look at the extended error code EXERR It identifies which axis caused the error ExErr 1 Axis 0 Caused the Error ExErr
184. Un Inhibit operation to transition to the Initializing state and restore axis function Not Grouped 2 If a CIP Motion axis is created and not associated with a Motion Group the axis state is set to the Not Grouped state A CIP Motion axis must be assigned to a Motion Group for the axis to be updated by the periodic Motion Task and carry out its function This condition is checked during the controller Self test state as qualification for transition to the Initializing state For this reason the Not Grouped state is considered a controller only sub state of the Self test state No Device 1 The Self test sta 38 If the CIP Motion axis in the controller is created but not currently associated with a drive the axis state indicates the No Device state A CIP Motion axis must be associated with a physical drive to function This condition is checked during the controller Self test state as qualification for transition to the Initializing state For this reason the No Device state is considered a controller only sub state of the Self Test state eis a drive state This state does not appear in Logix Designer application as an operating state of a CIP axis Instead self test is represented as the Initializing state for a CIP axis Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Servo On MSO Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 Use the Motion Ser
185. Use 000 cee eee eee 370 TE THEN oos were A er eae ol aed ety arate ated E turdens 371 Operands 252 tts a dase sate E alae 371 Description GS Aenea htuweg ete eees eases a E E ia 371 Arithmetic Status Plays socks tet elo aa a a liad 372 Fault Conditions sx vugandecetr ansaid dae tut ee rei eegss 372 Example cts amo pna chest e EA R Eaa 373 Rockwell Automation Publication MOTION RM002E EN P July 2015 19 Table of Contents Motion Instructions and Integrated Motion Control Modes Camming 20 Example Zeni i u a ee aah eek pe earl 373 Frample Scars oxen anana alas ae wae ae Rem OE E aaka 374 Example enr a Alay ghee ee eta Ae edly 374 CASE AO I EA shales Bog EE EE 375 Operands ieee canny tyke ton n na E sae eae 375 Description siera dio e EA EAA eugene 376 Arithmetic Status Flags sa ieiowees touewgiees aiacnien caaiewrieads 376 Fault Conditions Ada wou chm ek Gaede a G8 aie ne ea SAT 376 Example x aa e tweens E AE E E S 377 FOR DOr e ceeds eens kha r a a kee e 378 Operands e a a E gota E A endear ees 378 Desctiption esamesen ien o aea at E E EA 379 Arithmetic Status Flags ivedscisdi eel Mesie i divi eeeden ddan 379 Fault Conditions 24 Ga scusicvucnaante a E r AAAA ane eee 379 NA m l AA DO E E EE EEE E ET 381 Operands essri E N R E E A 381 Description rasie e aaae lhl A a a e lhl 381 Arithmetic Status Platsiet wiageiors staal alter cereals 382 Fault Conditions eieren oun a a head hatete nan annie 382 REPEAT ACUNTIB E es eo ee
186. When this is the case the tuning process is automatically aborted and a tuning fault reported that is stored in the Tune Status output parameter GSVable It is also possible to manually abort a tuning process by using a Motion Axis Stop MAS instruction which results in a tuning fault reported by the Tune Status parameter Possible values for Tuning Status are shown in this table Table 113 Tuning Status Values Status Code Code Meaning Tune Success 0 Tune process has been successful Tune In Process 1 Tuning is in progress Tune Aborted 2 Tuning Process was aborted by user Tune Time out 3 Tuning Process has timed out Tune Servo Fault 4 Tuning Process Failed due to Servo Fault Tune Travel Fault 5 Axis reached Tuning Travel Limit Tune Polarity Fault 6 Axis motion heading in wrong direction due to incorrect motor encoder polarity configuration Tune Speed Fault 7 Axis tuning speed too low to achieve minimum measurement accuracy Tune Configuration Fault 8 The specified axis tuning configuration is not allowed and a fault occurs IMPORTANT The Tune Status Parameter is not to be mistaken for the STATUS sub tag of the MRAT instruction Rockwell Automation Publication MOTION RM002E EN P July 2015 Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 Executing the Instruction To successfully execute a MRAT instruction on an axis the targeted axis must be configured as a Servo
187. _SERVO_DRIVE Format Description Tag Name of the axis to perform operation on Master axis AXIS_CIP_DRIVE AXIS_FEEDBACK AXIS_CONSUMED AXIS_VIRTUAL AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Tag The axis that the slave axis follows Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Rockwell Automation Publication MOTION RMOO2E EN P July 2015 123 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Table 45 MAG Relay Ladder Operand Descriptions Continued Operand Direction Type DINT Format Immediate Tag Description The relative direction that the Slave axis tracks the Master Axis Select one of following 0 slave axis moves in the same direction as the master axis When Same is selected or entered as the Direction the slave axis moves in its positive direction at the specified gear ratio when the master axis moves in its positive direction and vice versa 1 slave axis moves in the opposite direction of its current direction When Opposite is selected or entered as the Direction the slave axis moves in its negative direction at the specified gear ratio when the master axis moves in its positive direction and vice versa 2 slave axis reverses from current or previous When Unchanged is selected or entered as the Direction the gear ratio can be changed while preserving the current gearing direct
188. _number element_number 1 String_tag LEN element_number If element_number SINT_array_size then exit end_if Until SINT_array element_number 13 end_repeat 386 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Structured Text Programming Appendix C Comments To make your structured text easier to interpret add comments to it e Comments let you use plain language to describe how your structured text works e Comments do not affect the execution of the structured text Structured text comments are downloaded into controller memory and are available for upload To add comments to your structured text follow these steps Table 187 Adding Comments to Structured Text To Add a Comment Use One of These Formats ona single line Icomment at the end of a line of structured text comment comment within a line of structured text comment comment that spans more than one line These are some examples Format comment start of comment end of comment start of comment end of comment Example At the beginning of a line Check conveyor belt direction IF conveyor_direction THEN At the end of a line ELSE If conveyor isn t moving set alarm light light 1 END_IF comment Sugar Inlet 1 open the inlet IF Sugar Low low level LS amp Sugar High high level LS THEN Controls th
189. able output is inactive servo action is disabled e no servo faults are present Direct Drive Control This operating state allows the servo module DAC to directly control an external drive In this state e the servo module drive enable output is active e position servo action is disabled Servo Control This operating state allows the servo module to perform closed loop motion In this state e the servo module drive enable output is active servo action is enabled e the axis is forced to maintain the commanded servo position Axis Faulted In this operating state a servo fault is present and the status of the drive enable output the action of the servo and the condition of the OK contact depend on the faults and fault actions that are present Shutdown This operating state allows the OK relay contacts to open a set of contacts in the E string of the drive power supply In this state e the servo module drive enable output is inactive servo action is disabled e the OK contact is open 36 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 Table 6 Operating States of a CIP Axis Operating State Initializing In RSLogix 5000 programming software 0 These are the 16 operating states of a CIP axis Description During the Initializing State the drive first initializes all attributes to thei
190. act non zero phase relationship Incremental MAM instruction can also be used in conjunction with electronic gearing to compensate for material slip Normally a gear ratio of 1 is used with phase adjustment A 1 1 ratio ensures that the computed phase error does not change before performing the move to correct it Electronic gearing is not normally used with absolute moves because the ultimate endpoint is not predictable Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 129 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV MAG Execution Conditions Condition Ladder Diagram Action Structured Text Action prescan The EN DN ER and IP bits are cleared No action taken The rung condition out is set to false rung condition in is false The EN bit is cleared if either the DN or ER bit is set Otherwise the N A EN bit is not affected The DN ER and IP bits are not affected The rung condition out is set to false rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes instruction execution See the following figure postscan The rung condition out is set to false No action taken F N ENbit 0 Examine EN bit EN bit is set
191. action taken Rung condition in is false The EN bit is cleared if either the DN or ER bit is set N A Otherwise the EN bit is not affected The DN and ER bits are not affected The rung condition out is set to false Rung condition in is true The instruction executes The rung condition out is set to true N A Enableln N A Enableln is always set The instruction executes Instruction execution See the following figure Postscan The rung condition out is set to false No action taken EN bit 0 Examine EN bit EN bit is set EN bit 1 Instruction detects an error EN bit remains set Rung condition out remains set to true EN bit remains set DN bit remains clear ER bit is set Rung condition out remains true Rung condition out is set to true Processing runs to completion in Motion task Function complete EN bit remains set DN bit remains clear ER bit remains clear Rung condition out is not affected Rockwell Automation Publication MOTION RMOO2E EN P July 2015 EN bit remains set DN bit is set ER bit remains clear Rung condition out is not affected 63 Chapter 1 64 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Error Codes See Error Codes ERR for Motion Instructions on page 345 MDO Extended Error Codes Extended Error Codes provide addit
192. adrir Enn EEEREN AA EEEE RERNA 280 Motor Encoder Hookup Test 3ij 324 436 sae eooes ives 280 Encoder Hookup Testicsiisiowess coy deseee Sitios eraeeeeee 281 Arithmetic Status Flags eect ive casa tak ead ieee sass 281 Fault Conditions s ota ecaice eaten ne eeeea ama ems 281 MAHD Execution Conditions 0 00 cece cece cece ees 282 MAHD Frror Codes icsan reat coad eateetasane a eeceee 283 MAHD Changes to Status Bits ousus auntie tantattee wie tocpanes 283 Example i heei aika t k e E REEE ES 283 Motion Run Hookup Diagnostics MRHD 0 005 284 Operinids sari suscssnamedeaed Deas bene cs a ate ies 284 Description AXIS_SERVO AXIS_SERVO_DRIVE 286 Motor Encoder Hookup l stses 242 5ay c salle sieidaie sales 287 Deserprion AXIS CIP DRIVE ses per te O EAEn 289 AGESE SCAUUS e aana a e a Mast drat eee Ses 293 Arithmetic Status Flags nis sgus hie saved eye erence 294 Fault Conditions e soere a hao ool OU et 294 MRHD Exectition Conditions 3 cass ncbk saudi oes ae Peed 295 Error Codes merre areenaa aiaa EREE TEO ke Ae seed 296 MRHD Changes to Status Bits vav53h ceutecuat hues caneewyegs 296 MRED Example marris taien cies sasha pad Vee uou eA 296 Chapter 6 MDSC Functionality Master Driven Axis Control MDAC 00cce cee ceeeeees 297 Operands rrr i ara E EEE Ree eet de E E A 297 MOTION ANSTRUCTION ii cious aciseokeorgdenevelacaes 299 Interaction of MDAC with Time Cams MATC
193. aian nna aS EE ah ee eee ia temttat cman 65 Description ecaa oe naan a ait Reva heey seen 66 Arithmetic Status Flaps ccs iva corse vended ceieaaktiee ites 66 Patil Conditions se tue gaosS pac A EERE eo TERENS 66 MDF Execution Conditions 0cccce cece cee eeeenenes 67 Error COGS rer lie a vc bu Artis whale buoy BYGe OL ERAN undue tack 68 MDF Changes to Status Bits ics ios a5 ns ho ee eeierria e959 68 IVE EE xi plenenn ersren ne ped ytd havnt bre a ae Oh dad cid ets 68 Motion Drive Start MIDS Si edie date tev ou weenie daria hee Nes 69 Operands 5 asthe N e E exit parce eae Sanath 69 Des riptioh ernen i E 55 25 yaw wea aan eS SSS 70 Arithmetic Status Flaten wots ciate views teats aban 73 Fault Cond TOAS 4 ce scica vada etd tact rach A E N ia 74 Error Codes hati heed E E Beet orth ect rake 74 MDS Changes to Status Bits s 0i 00 sasawreniaverersiees eosanbes 74 IMDS Example snenie ta E Med aE eta elias 74 Motion Axis Fault Reset MAFR 0ccececcececeeceseeeeces 75 Operands ennnen En n cial Snel octet eM are mtn tara onan 75 Description acate Brean eas it nea ote nies 76 Arithmetic Status Flags Wwasesarevak ech oraitieunee reves 77 Faut Condos s n a dns a RE 77 MAFR Execution Conditions 00 ccc ccc ee cece eee enes 77 Eror Codess hina Gs Ai Oeue bol lene dae A Ge ole 78 MAFR Changes to Status Bite oy so ns ai dives os 78 MAER 2a e210 oe ane ete eea a a Paar a 78 Rockwell Automation Publication MOTION RMOO2E E
194. al Axes ie B A N x2 Taza i Cartesian Coordinate System Two dimensional Cartesian Coordinate System Figure 44 Coordinate Systems with Nonorthogonal Axes 4 W421 Cas A A 7 x L1 W 5 PETA 1 i L2 pV Os S Delta Three dimensional Coordinate System Delta Two dimensional Coordinate System Three dimensional Cartesian Coordinate System SCARA Independent Coordinate System L X3 X2 J24 Z2 u J1 Z1 sae A a y E ERS ER ee L2 3 S SCARA Delta Coordinate System Rockwell Automation Publication MOTION RM002E EN P July 2015 392 If you want to Camming Appendix E Use this table to choose a motion coordinated instruction Detailed information about these coordinate instructions can be found in the Coordinate System User Manual publication MOTION UM002 Use this instruction Available in these languages Initiate a single or multi dimensional linear coordinated move for the specified axes Motion Coordinated Linear Move MCLM e Relay ladder within a Cartesian coordinate system e Structured text Initiate a two or three dimensional circular coordinated move for the specified axes Motion Coordinated Circular Move MCCM e Relay ladder within a Cartesian coordinate system e Structured text Initiate a change in path dynamics for coordinate motion acti coordinate system ve on the specified Motion Coordinated Change Dynamics MCCD Relay ladder e Structured te
195. allowed when a redefine position is in process if any of the motion planner instructions are executed while MRP is in progress The motion instructions included are MAM MAJ MCLM MCCM MATC MAPC MDAC and MDCC IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it executes only ona transition For more information see Structured Text Programming on page 359 Programming Guidelines These are programming guidelines for the MRP instruction Absolute Mode When Absolute is selected or entered as the MRP Type the New Position specifies the new absolute position of the axis No motion occurs the current axis position actual or command is simply redefined to be the specified new position If software overtravel limits are used refer to Motion Axis Object specification for more information on software overtravel configuration the new position must be between the Max Positive and Max Negative Travel configuration values Otherwise a software overtravel fault is generated when the instruction is executed MRP in Absolute mode can invalidate the current Max Positive
196. am profile tag 152 start slope and end slope 152 Motion Calculate Slave Values MCSV 31 192 194 arithmetic status flags 193 changes to status bits 194 description 193 error codes 194 extended error codes 194 fault conditions 193 operands 192 Motion Change Dynamics MCD 31 133 141 absolute mode 144 actual position 145 arithmetic status flags 139 changes to status bits 140 command position 145 description 136 error codes 140 example 141 149 execution conditions 139 extended error codes 140 148 fault conditions 139 operands 133 programming guidelines 144 relative mode 145 417 Motion Configuration Instructions 261 296 Motion Apply Axis Tuning MAAT 32 261 267 Motion Apply Hookup Diagnostics MAHD 32 278 283 Motion Run Axis Tuning MRAT 32 268 277 Motion Run Hookup Diagnostics MRHD 32 284 296 Motion Coordinated Instructions Motion Coordinated Change Dynamics MCCD 32 393 Motion Coordinated Circular Move MCCM 32 393 Motion Coordinated Linear Move MCLM 32 393 Motion Coordinated Shutdown MCSD 32 393 Motion Coordinated Stop MCS 32 393 motion coordinated instructions See multi axis coordinated motion instructoins Motion Direct Drive Off MDF 31 65 68 arithmetic status flags 66 changes to status bits 68 description 66 70 error codes 68 example 68 execution conditions 67 fault conditions 66 operands 65 69 Motion Direct Drive Off MDS example 74 Motion Direct
197. ame of the axis Instance Name My_Axis Attribute Name DynamicsConfigurationBits Source DynamicsContigBitsSet 2 0000_0000_0000_0000_0000_0000_0000_0011 DINT tag to set the value Turn on bit 1 See the Logix Designer online help for more information Help gt Contents gt GSV SSV Objects gt Axis gt Dynamics Configuration Bits Rockwell Automation Publication MOTION RMO02E EN P July 2015 341 Chapter8 Analyzing Axis Motion Axis Overshoots Its Position While an axis is moving to a target position you change a parameter of the move and Reverses Direction The axis overshoots its target position Eventually the axis stops and moves back to its target position Table 155 Axis Overshoots Example You execute a Motion Change Dynamics MCD instruction to reduce the deceleration while a Motion Axis Move MAM instruction is in process The axis continues past the target position of the move stops and returns to the target position Look For Move_Cmnd AM Motion Axis Move EN Axis My_Axis Motion Control My_Axis_MI Move DNS Move Type 1 ER gt Position 600 P gt Speed 60 ee Speed Units Units per sec Accel Rate My_Axis_Vars C Auto_Accel 20 0 Accel Units Units per sec2 Decel Rate My_Axis_Vars C Auto_Decel 20 0 l Decel Units Units per sec2 Profile Trapezoidal Accel Jerk My_Axis_vars C Auto_Accel_Jerk 100 0 Decel Jerk My_Axis_Vars C Auto_Decel_Jerk 100 0 Jerk Units
198. amically by any method that is by changing move dynamics Motion Change Dynamics MCD instruction or Motion Coordinated Change Dynamics MCCD or by starting a new instruction before the last one has completed be aware of the risk of velocity and or end position overshoot A Trapezoidal velocity profile can overshoot if maximum deceleration is decreased while the move is decelerating or is close to the deceleration point An S curve velocity profile can overshoot if one of these occurs e Maximum deceleration is decreased while the move is decelerating or close to the deceleration point e Maximum acceleration jerk is decreased and the axis is accelerating Keep in mind however that jerk can be changed indirectly if it is specified in of time For more information see Analyzing Axis Motion on page 331 Rockwell Automation Publication MOTION RMO02E EN P July 2015 85 Chapter 2 86 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Executing the Instruction This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time you want to execute the instruction e In structured text condition the instruction so that it executes only on a transition by either a qualifyer of an SFC action or structured text construct For more information see Structured Text Programming on page 359 Programming Guidelines Follow these guidelines
199. amp Accel Decel as time seconds Figure 40 Programming Time in Logix Designer Application Version 20 and Later Speed Calculated Speed I I Steady State Time 4 75 sec N l i In Logix Designer application version V20 and later you can program the accel and decel and the total time of the move directly Decel q 255eC Time Time Programmed 5 25 sec MAM Logix Designer application version 20 and later Motion Axis Move CEN i i i ps x3 MAM instruction programmed as time lt ax_V_slave3_reverse_M gt CDN Motion Control cb_mamM2 igi iive Typo cer Position 50 0 mm start 0 0 ran ae es Speed 5 25 sec osition position 20 Accel 0 25 sec Speed time_MAM2 5 256 Decel 0 25 sec Speed Units Seconds Accel Rate acc_dec_MAM2 y oE So Travel_Distance area under the Accel Units Seconds Decel Rate acc_dec_MAM2 curve accel F at_speed decel 0 256 Travel_Distance 50 mm Decel Units Seconds ii Travel_Time 5 25 sec 0 25 4 75 0 25 sec Accel Jerk 10000 Decel Jerk 10000 Jerk Units Units per sec3 Merge Disabled Merge Speed Programmed Lock Position 0 0 Lock Direction None Event Distance 0 Calculated Data 0 Rockwell Automation Publication MOTION RMO02E EN P July 2015 317 Chapter6 MDSC Functionality Acceleration and Deceleration Enumerations The following enumerations are defined for Acceleration and Decel
200. ample if EXERR 3 then check the Speed EXERR Operand 0 Axis 1 Motion Control 2 Direction 3 Speed 4 Ratio 54 1 The coordinate system has a Maximum Click the Properties for the coordinate system axis and set a Maximum Deceleration Deceleration of 0 0 or more An axis in the coordinate system has a 1 Open the Properties for the axis Maximum Deceleration of 0 APUN gt Use the EXERR value to see which axis has the Maximum Deceleration of 0 The axis that you are jogging has a deceleration rate of 0 Click the ellipsis button next to the offending axis to access the Axis Properties screen Click the Dynamics tab and make the appropriate change to the Maximum Deceleration Value If the Extended Error number is 1 this means the Coordinate System has a Maximum Deceleration Value of 0 Click the Coordinate System Properties Dynamics Tab to correct the Maximum Deceleration value Rockwell Automation Publication MOTION RMOO2E EN P July 2015 131 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV MAG Changes to Status Bits If the Clutch check box is NOT checked execution of the MAG instruction simply sets the Gear Status bit to True Bit Name State Meaning GearingStatus TRUE Axis is Gearing If the Clutch check box is checked execution of the MAG instruction sets the Gearing Lock Status bit to True when the clutching process completes
201. and Earlier In Logix Designer application version 19 and earlier you could only program speed as units Internally the controller would calculate the total time of the move accel and decel times Programmed Speed Acel 9 CT Decel IN f IA I 1 25 mm N25 mm Steady State Distance 47 5 mm Distance Distance Programmed 50 Logix Designer application version 19 and earlier MAM Motion Axis Move KEN MAM instruction programmed as rate Axis ax_M lt ax_V_master_M gt DN Motion Control cb_mam Position 50 0 mm start 0 0 Move Type 0 ER Speed 10 0 mm sec Accel 40 0 mm sec Decel 40 0 mm sec Position position1 50 06 Speed speed PC 10 06 Speed Units Units per sec Accel Rate 40 0 So Travel_ Distance area under the curve accel at_speed decel Travel_ Distance 50 mm Accel Units Units per sec2 Decel Rate v0 Decel Units Units per sec2 Profile Trapezoidal Accel Jerk 10000 Decel Jerk 10000 Jerk Units Units per sec3 Merge Disabled Merge Speed Programmed Lock Position 0 0 Lock Direction None Event Distance 0 Calculated Data 0 n R Rockwell Automation Publication MOTION RM002E EN P July 2015 Travel_ Distance 50 mm 1 25 mm 47 5 mm 1 25 mm MDSC Functionality Chapter 6 In this figure we are programming time In Logix Designer application version V20 the controller calculates the speed of the move Speed
202. anda second instruction is initiated that overlaps the active instruction Table 157 lists some of the overlap instances that will generate errors In this case e Error 7 Shutdown State Error e Error 61 ExErr 10 Connection Conflict Transform Axes Moving or Locked By Other Operation e Error 78 Not Allowed While Stopping Rockwell Automation Publication MOTION RMOO2E EN P July 2015 351 AppendixA Error Codes ERR for Motion Instructions The following table lists additional overlap instances that will generate errors Table 157 Generated Errors in Overlap Instances Active Stopping Instruction MGS MGSD MCS MAS Initiated Second Instruction Stop Mode Stop Mode Stop Mode Stop Type Stop Type Stop Type All Stop Types Stop Type All Fast Stop Fast Disable Programmed Coordinated Coordinated All Except Move Transform Stoplype All MAAT Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 78 Error 78 Error 78 MRAT Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 78 Error 78 Error 78 MAHD Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 78 Error 78 Error 78 MRHD Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 78 Error 78 Error 78 MAH Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 E
203. ands oosa Asani aac faded 25 aS aoe tuted tole teh ara 196 DeSCliPtlOnet cei awanuere vies EAEE banae ease EES 197 Arithmetic Status Flags Ga ihc genie tasdsegialtadseh cates werner 199 Fault Cond etio tases 8 lial tte gt nh caste Ie Bianca Rane ce tare 199 MGS Execution Conditionss issicc8dsaseasdasaweasasenesond 200 MGS Error Godess sic cb tuted abcd oy Veh al ee ee he 201 MGS Changes to Status Bits c c2ccdwliodissdehcbesvawseaeaes 201 MGS Example aneren iiaa raaa E E A TRR 201 Motion Group Shutdown MGSD 0 eee eee eee eee e eens 202 Opeiands parye srera teeth hda tens Wir EAE tReet a earin ees 202 MDGS CE USE IO Biostar tee moen e Syd Ws a Mat NS a a 203 Arithmetic Status Flags conus cniawce agri yonereeteeramememnns 203 Fault GOnds Onset chili ded Seis het el ovat Late te ae eee Bobet 204 MGSD Execution Conditions cccccececeeeecucuce 204 MGSD Error Codes 115 2d stesnces ask eercaciraco beaded Sewanee wsdl actrees 205 MGSD Changes to Status Bitsic cida id tsa dees es edad Reed 205 MGS Examples ceai tte Guarded aee a A Aa 205 Motion Group Shutdown Reset MGSR cee ee eee eee e eee 206 Operands ate ait iene eeeee ected o A aaeahees 2 206 Description eie Uhre as oi ae NC st Oe a e daa 207 Arithmetic Status Flags sc ccsgucrhiteiaaied vasa deel a eenpiwas 207 Fault Conditonsesseni ta ne ira E aac tented case 207 Rockwell Automation Publication MOTION RM002E EN P July 2015 15 Table of Contents Motion Event I
204. ar Move MCLM C X C C Motion Coordinated Circular Move MCCM MMM C X C C Motion Coordinated Stop MCS X X X X X X Motion Coordinated Shutdown MCSD X X X X X X Motion Coordinated Shutdown Reset MCSR X X X X X X Motion Coordinated Change Dynamics MCCD C X C C Motion Coordinated Transform MCT C X C C Motion Calculate Target Position MCTP X C X C C X Motion Master Driven Axis Control MDAC C X C C 7 Motion Master Driven Coordinated Control MDCC C X C C j Motion Run Axis Tuning MRAT X X X Motion Apply Axis Tuning MAAT Motion Run Hookup Diagnostic MRHD X X X X X X Motion Apply Hookup Diagnostic MAHD Motion Group Strobe Position MGSP X X X X X X Motion Group Shutdown MGSD X X X X X X Motion Group Shutdown Reset MGSR X X X X X X Motion Group Stop MGS X X X X X X 390 Rockwell Automation Publication MOTION RM002E EN P July 2015 Appendix E Camming This appendix describes camming concepts You use the motion coordinated instructions to move up to three axes in a coordinate system Descriptions of these instructions are located in the Motion Coordinate System User Manual publication MOTION UMO002 Topic Page Camming Concepts 393 Cam Profiles 395 Scaling Cams 401 Cam Execution Modes 403 Execution Schedule 403 Pending Cams 408 Rockwell Automation Publication MOTION RMO02E EN P July 2015 391 AppendixE Camming Figure 43 Coordinate Systems with Orthogon
205. arallel with the program scan 4 The next time the rung becomes false after either the DN bit or the ER bit sets the controller clears the EN bit 5 When the rung becomes true the instruction can execute again Figure 3 Process Type Instructions Rung Conditions EN DN ER IP PC Scan Scan rung rung true false Execution Process Scan complete rung complete false Rockwell Automation Publication MOTION RMO02E EN P July 2015 Choose a Command Preface Use this table to choose an instruction and see if it is available as a Motion Direct Command Table 2 Choosing a Motion Direct Command If You Want To And Use This Instruction Motion Direct Command Change the state of an axis Enable the servo drive and activate the axis servo loop Motion Servo On MSO Yes Disable the servo drive and deactivate the axis servo loop Motion Servo Off MSF Yes Force an axis into the shutdown state and block any Motion Axis Shutdown MASD Yes instructions that initiate axis motion Transition an axis to the ready state If all of the axes ofa Motion Axis Shutdown Reset MASR Yes servo module are removed from the shutdown state as a result of this instruction the OK relay contacts for the module close Enable the servo drive and set the servo output voltage of Motion
206. ard or Reverse specifies the direction in which the Only Master Axis has to be moving when it crosses the Lock Position for the lock to take effect y Position Reverse Forward is positive velocity reverse is negative velocity The instruction will error with Only MDSC_LOCKDIR_CONFLICT 95 The enumeration NONE must be used in time driven mode or the instruction will error On of the other 4 enumerations must be used in master driven mode For an MAM instruction the Slave always moves in one direction it s programmed direction Once it starts moving it follows the Master Axis in the programmed direction regardless of the direction of the Master Axis If the Master reverses the slave stops These are the Master Driven mode enumerations 2 Immediate Reverse Table 139 Enumeration Descriptions for the MDAC Input Parameter Enumeration Name Description 0 None Indicates that the Lock Position is not active If Lock Direction is set to None and the Master Driven mode is selected by the speed parameter of the motion instruction a run time error is generated Conversely if Lock direction is set to a value other than None and the speed parameter units indicate Time Driven mode an error is also generated 1 Immediate Motion starts immediately when the Master is moving in the Forward Direction The Master Axis is followed only Forward Only while it is moving in the Forward Direction 2 Immediate Motion starts immediately
207. ars the Axis DirectVelocityControlStatus bit in the Motion Status attribute Rockwell Automation Publication MOTION RMOO2E EN P July 2015 83 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Structured Text MAS Axis MotionControl Stoplype ChangeDecel DecelRate DecelUnits ChangeDecelJerk DecelJerk JerkUnits The structured text operands are the same as the relay ladder operands SeeTable 30 MAS Relay Ladder Operands Descriptions on page 82 For the operands that require you to select from available options enter your selection as described in Table 31 Table 31 MAS Structured Text Operands Descriptions This Operand Has These Options Which You Can Enter as Text Or Enter as a Number Stop Type all 0 jog 1 move 2 gear 3 home 4 tune 5 test 6 timecam 7 positioncam 8 masteroffsetmove 9 directcontrol 10 Change Decel no 0 yes 1 Decel Units units per sec 0 of maximum 1 Change Decel Jerk no 0 yes 1 Decel Jerk no enumeration You must always enter a value for the Decel Jerk operand This instruction only uses the value if the Profile is configured as S curve Decel Jerk is the deceleration jerk rate of the axis Use this value to get started Decel Jerk 100 of Time 2 Jerk Units unitspersec3 0 of maximum 1 of time 2 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCC
208. aster Offset Move 9 Direct Control 10 The axis could still be moving when the MAS instruction is complete Change Decel DINT Immediate If You Want To Then Choose Use the maximum deceleration No 0 rate of the axis Specify the deceleration rate Yes 1 Decel Rate REAL Immediate Important The axis could overshoot its target position if you reduce the deceleration while a move is in process Tag Deceleration rate of the axis The instruction uses this value only if Change Decel is Yes Decel Units DINT Immediate Which units do you want to use for the Decel Rate e Units per sec 0 of Maximum 1 Change Decel DINT Immediate If You Want To Then Choose Jerk Use the maximum deceleration No 0 Jerk rate of the axis Program the deceleration jerk Yes 1 rate Decel Jerk REAL Immediate Important The axis could overshoot its target position if you reduce the deceleration jerk while a move is in Tag process N You must enter a value for the Decel Jerk operand This instruction only uses the value if the Profile is configured as Jerk Units DINT Immediate S curve Decel Jerk is the deceleration jerk rate of the axis Use these values to get started Decel Jerk 100 of Time 0 Units per sec 1 of Maximum 2 of Time use this value to get started 1 When the MAS instruction is used with either an All or DirectVelocityControlStatus Command Stop Type the selection also clears the MDS In Process IP bit and cle
209. at http www rockwellautomation com rockwellautomation about us sustainability ethics product environmental compliance page Rockwell Otomasyon Ticaret A S Kar Plaza Merkezi E Blok Kat 6 34752 erenk y stanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation NV Pegasus Park De Kleetlaan 12a 1831 Diegem Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication MOTION RMO02E EN P July 2015 Supersedes Publication MOTION RM002D EN P September 2014 Copyright 2015 Rockwell Automation Inc All rights reserved Printed in the U S A
210. at MAAT generates as output depend on the External Drive configuration If the External Vel Servo Drive configuration bit parameter is TRUE indicating interface to an external velocity servo drive the following output parameters are generated Axis Parameter Data Type Units Meaning Pos Proportional Gain Real 1 msec Position Servo Loop Proportional Gain Pos Integral Gain Real I msec Position Servo Loop Integral Gain Set to Zero Velocity Feedforward Real Position Servo Loop Proportional Gain Acceleration Feedforward Real Velocity Command Feedforward Set to Zero Max Speed Real pos units sec Maximum Speed for Motion Profiles Set to Tuning Velocity Max Acceleration Real pos units sec Maximum Acceleration for Motion Profiles Max Deceleration Real pos units sec Maximum Acceleration for Motion Profiles Output Filter Bandwidth Real Hertz Bandwidth of Low Pass Servo Output Filter Output Scaling Real mV KCPS Scale Factor applied to output of the Position Servo Loop to the DAC Position Error Tolerance Real pos units Maximum Servo Loop Position Error allowed without Fault If the External Vel Servo Drive configuration bit parameter is FALSE indicating interface to an external torque servo drive the following output parameters are generated Axis Parameter Data Type Units Meaning Pos Proportional Gain Real 1 msec Position Servo Loop Proportional Gain
211. at apply to the entire drive and affect all axes associated with that drive Module faults include all node faults reported by the drive and also communication fault conditions detected on the controller side of the motion connection Group Fault Faults related to the motion group object function and affect all axes associated with the motion group Group Fault conditions are detected by controller and are associated with the time synchronization function common to all axes in the motion group Configuration Fault Fault generated anytime there is an error when sending configuration data to the drive Start Inhibited Oo This state is the same as the Stopped state with the exception that the axis has one or more start inhibit conditions that prevent it from successfully transitioning to the Starting state Once corrected the axis state automatically transitions back to the Stopped state Shutdown 0 When a Shutdown request is issued to the drive or a Shutdown fault action is executed by the drive the targeted axis immediately transitions to the Shutdown state The Shutdown state has the same basic characteristics of the Stopped state except that it can be configured via the Shutdown Action attribute to drop the DC Bus power to the drive s power structure Regardless of whether DC Bus power is disconnected this state requires an explicit Shutdown Reset request from the controller to transition to the Pre charge state
212. at uses an S curve profile if the maximum deceleration jerk for the axis is zero 77 How many axes are in your coordinate system Transform Direction Not Supported 2 Use a non mirror transform direction You re trying to use the mirror directions with a 3 axis coordinate system and 3 Use a non inverse transform direction a non zero base offset X2b or effector offset X2e Mirror directions are not supported for 2 axis Coordinate Systems e You are attempting to use either a 2 or 3 axis Cartesian Delta2D Delta3D or SCARA Delta target coordinate system with transform directions other than forward and inverse You can use inverse mirror directions only when both these conditions are true You have a 3 axis coordinate system The base offset X2b and end effector offset X2e of the X2 dimension are zero 78 New check for a secondary Instruction overlap on top of an active Stop instruction Not Allowed While Stopping You cannot overlap certain Motion instructions while stopping Wait for the first instruction to complete before starting the second instruction For more information see the table on page 351 and page 352 79 Home your axis again Internal Homing Sequence Error Error of Home instruction occurs if any other motion on the axis is encountered during the homing sequence Invalid Planner State If you see this error rehome your axis in your application program Make sure the axis is stopped before home is atte
213. ation Publication MOTION RMOO2E EN P July 2015 Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 The axis configuration parameters that MRAT generates as output depend on the External Drive configuration If the External Vel Servo Drive configuration bit parameter is TRUE indicating interface to an external velocity servo drive the following output parameters are generated Axis Parameter Data Type Units Meaning Tune Status Real Status Report of the Tuning Process Tune Accel Time Real seconds Measured Acceleration Time of Tuning Profile Tune Decel Time Real seconds Measured Deceleration Time of Tuning Profile Tune Accel Real pos units sec Calculated Acceleration Time of Tuning Profile Tune Decel Real pos units sec Calculated Deceleration Time of Tuning Profile Tune Velocity Scaling Real mV KCPS Measured Velocity Scaling factor of axis Drive Motor Encoder system Tune Rise Time Real mV KCPS Measured Rise Time of Tuning Step Response Profile Tune Velocity Bandwidth Real Hertz Computed Bandwidth of External Velocity Servo Drive If the External Vel Servo Drive configuration bit parameter is FALSE indicating interface to an external torque servo drive the following output parameters are generated Axis Parameter Data Type Units Meaning Tune Status Real Status Report of the Tuning Process Tune Accel Time Real seconds Measured Acceleration Time of T
214. atus Bits Status bits can be used to determine if an MAOC instruction can be initiated The MAOC instruction affects the following status words in the Motion Axis Structure e OutputCamStatus e OutputCamPendingStatus e OutputCamLockStatus e OutputCamIransitionStatus If the Execution Schedule is set to Forward Only Reverse Only or BiDirectional an MAOC instruction can be initiated when either of the following two conditions exist e OutputCamStatus bit FALSE e OutputCamStatus bit TRUE OutputCamLockStatus bit FALSE OutputCamTransitionStatus bit FALSE Module Fault Conditions Disarm Output Cams When the controller detects one of the following faults it disarms output cams e For Axis Servo and Axis Servo_Drive axis feedback loss fault e For Axis Servo and Axis Servo_Drive module fault e For Axis_Consumed physical axis fault Those faults produce unreliable feedback data Also if an axis fault exists when an MAOC instruction is initiated the instruction errs If the Execution Schedule is Pending the MAOC instruction is initiated if either of the following two conditions exist e OutputCamStatus bit FALSE e OutputCamStatus bit TRUE OutputCamIransitionStatus bit FALSE Axis and Module Fault Conditions Disarm Output Cams When the controller detects one of the following faults it disarms output cams e for Axis Servo and Axis Servo_Drive axis feedback loss fault e for Axis Servo and Axis Servo_Drive
215. atus Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 MRHD Execution Conditions Condition Ladder Diagram Action Structured Text Action Prescan The EN DN ER IP and PC bits are cleared No action taken The rung condition out is set to false Rung condition in is false The EN bit is cleared if either the DN or ER bit is set N A Otherwise the EN bit is not affected The DN ER IP and PC bits are not affected The rung condition out is set to false The instruction executes N A Rung condition in is true The rung condition out is set to true Enableln N A Enableln is always set The instruction executes Instruction execution See the following figure Postscan The rung condition out is set to false No action taken EN bit 0 Examine EN bit EN bit is set EN bit 1 Instruction detects an error EN bit remains set Rung condition out remains set to true EN bit remains set DN bit remains clear ER bit is set IP bit remains clear PC bit remains clear Rung condition out is true EN bit remains set DN bit is set ER bit remains clear IP bit is set PC bit remains clear Rung condition out
216. aulted State 22 Stop the axis before you execute this instruction Axis In Motion 23 An instruction attempted an illegal change of dynamics Illegal Dynamic Change 24 Take the controller out of test mode Illegal Controller Mode 25 You attempted to execute an instruction that is not correct Illegal Instruction 26 The cam array is of an illegal length Illegal Cam Length 27 The cam profile array is of an illegal length Illegal Cam Profile Length 28 You have an illegal segment type in the cam element Illegal Cam Type 29 You have an illegal order of cam elements Illegal Cam Order 30 You tried to execute a cam profile while it is being calculated Cam Profile Being Calculated 31 The cam profile array you tried to execute is in use Cam Profile Being Used 32 The cam profile array you tried to execute has not been calculated Cam Profile Not Calculated 33 A MAM Master Offset move was attempted without a Position CAM in process Position Cam Not Enabled 34 A MAH instruction is trying to start while a registration is already running Registration in Progress 35 The specified execution target exceeds the number of Output Cam targets Illegal Execution Target configured for the axis 346 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Table 156 Motion Instruction Error Codes Descriptions Continued Error Codes ERR for Motion Instructions Appendix A Error Corrective Action or Cause Notes 3
217. available given the exception condition But in all these final states a fault reset must be executed before the axis can be restored to enabled operation and commanded to move If the application requires exception action that is a more severe stopping action than the factory set best method the controller must initiate that action If the application requires exception action that is less severe than the factory set best method the controller must configure the device axis instance for a Minor Fault exception action and handle the fault directly This can put device and motor components at risk and should only be allowed by the device when there is an opportunity albeit temporal for the device to remain operational This is important in applications where the value of the product is higher than the value of the motor or device When multiple major faults occur with different stopping actions the most severe of the associated stopping actions is applied that is the stopping action that requires the lowest level of control functionality This rule also applies to the stopping action associated with the Stopping Mode associated with a Disable Request Shutdown Shutdown forces the axis into the Shutdown state immediately disabling the drive s power structure If Shutdown Action is configured to do so this action also drops DC Bus power to the drive s power structure Therefore the Shutdown action overrides the drive s best stopping
218. ave or master axis is not configured Configure the axis 1 Slave 2 Master For example if EXERR 3 then check the Speed EXERR Operand 0 Axis 1 Motion Control Direction 3 Speed 4 5 Slave scaling value 11 Varies Slave or master axis is not configured Configure the axis 1 Slave 2 Master 54 1 The coordinate system has a Maximum Click the Properties for the coordinate system axis and set a Maximum Deceleration Deceleration of 0 0 or more An axis in the coordinate system hasa Ifthe Extended Error returns a positive number 0 n it is referring to the offending axis in the coordinate Maximum Deceleration of 0 system Click the Coordinate System Properties General Tab and look under the Brackets column of the Axis Grid to determine which axis has a Maximum Deceleration value of 0 1 Click the ellipsis button next to the offending axis to access the Axis Properties screen 2 Click the Dynamics tab and make the appropriate change to the Maximum Deceleration Value 3 Ifthe Extended Error number is 1 this means the Coordinate System has a Maximum Deceleration Value of 0 Click the Coordinate System Properties Dynamics Tab to correct the Maximum Deceleration value Rockwell Automation Publication MOTION RMOO2E EN P July 2015 175 Chapter 2 176 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV MAPC Changes to Status Bits If the Execution Schedule is set to Immediate
219. bit is cleared PC bit remains clear Rung condition out is not affected Rockwell Automation Publication MOTION RMOO2E EN P July 2015 225 No Yes Function aborted Chapter 4 226 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC MDW Error Codes See Error Codes ERR for Motion Instructions on page 345 MDW Changes to Status Bits Bit Name Meaning WatchEventArmedStatus FALSE The axis is not looking for a watch position event WatchEventStatus FALSE The previous watch event is cleared MDW Example When the input conditions are true the controller disarms watch position event checking for axis1 Relay Ladder MDW Motion Disarm Watch _ h gt Axis Axist E i gt Motion Control MDW_1 A gt Structured Text MDW Aaxis1 MDW_1 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Arm Registration MAR Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 Use the Motion Arm Registration MAR instruction to arm servo module registration event checking for the specified axis When the instruction is called a registration event is armed based on the selected Registration Input and the specified Trigger Condition When the specified Registration Input transition satisfies the Trigger Condition the motion module computes the axis position at the moment the event occurred based on hardware latched encoder count data and stores it in the a
220. bleln is always set The instruction executes Instruction execution See the following figure Postscan The rung condition out is set to false No action taken EN bit 0 Examine EN bit EN bit is set EN bit 1 Yes Instruction detects an error EN bit remains set Rung condition out remains set to true EN bit remains set DN bit remains clear ER bit is set Rung condition out remains true Rung condition out is set to true Processing runs to completion in motion task Function complete EN bit remains set DN bit remains clear ER bit remains clear Rung condition out is not affected Error Codes EN bit remains set DN bit is set ER bit remains clear Rung condition out is not affected See Error Codes ERR for Motion Instructions on page 345 MASR Changes to Status Bits Bit Name State Meaning ShutdownStatus FALSE The axis is not in the shutdown state Rockwell Automation Publication MOTION RMOO2E EN P July 2015 57 Chapter 1 58 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR MASR Example When the input conditions are true the controller resets axis from a previous shutdown operating state into an axis ready operating state Relay Ladder MASA Motion Axis Shutdown Reset Axis Axis2 E Motion Control MASF_1 vv
221. blication RA AP031 Operands The MAOC instruction supports the following operands e Relay Ladder e Structured Text Rockwell Automation Publication MOTION RMO02E EN P July 2015 239 Chapter 4 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Relay Ladder Table 95 MAOC Relay Ladder Operand Descriptions MAOC Motion Arm Output Cam Axis Execution Target Motion Control Output Input Output Cam Cam Start Position Cam End Position Output Compensation Execution Mode Execution Schedule Axis Arm Position Cam Arm Position Position Reference lt lt Less Operand Type Format Description Axis AXIS_CIP_DRIVE Tag Name of the axis that provides the position input to the Output Cam The axis can be a virtual physical or AXIS_ FEEDBACK consumed axis AXIS_CONSUMED AXIS_VIRTUAL AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Execution Target DINT SINT Immediate or The execution target defines the specific Output Cam from the set connected to the named axis Tag Behavior is determined by the following 0 8 Output Cams executed in the Logix controller 9 31 Reserved When you use the 1756 OB16lEFS scheduled output module you can schedule all 16 outputs Motion Control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Output DINT Tag A set of 32 output bits that are set or reset based on the specified Output Cam It can be eit
222. cam profile motion is executed indefinitely When Continuous mode is selected the specified cam profile starts immediately and is executed indefinitely With continuous operation time is unwound to the beginning of the cam profile when it moves beyond the end of the cam profile causing the cam profile to repeat indefinitely This feature is particularly useful in rotary applications where it is necessary that the time cam run continuously in a rotary or reciprocating fashion To generate smooth continuous motion by using this technique however care must be taken in designing the cam points of the cam table to ensure that there are no position velocity or acceleration discontinuities between the start and end points of the calculated cam profile Rockwell Automation Publication MOTION RMOO2E EN P July 2015 179 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Table 65 MATC Relay Ladder Operand Descriptions Continued Operand Type Format Description Execution Schedule Lock Position Lock Direction Instruction Mode 180 DINT REAL or TAG REAL or TAG DINT Immediate Selects the method used to execute the cam profile Options are 0 Immediate instruction is scheduled to execute immediately with no delay enabling the time camming process 1 Pending lets you blend a new position cam execution after an in process position cam is finished Im
223. cause severe injury or death Wear proper Personal Protective Equipment PPE Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment PPE Allen Bradley CompactLogix ControlLogix DriveLogix GuardLogix Kinetix Logix5000 PowerFlex Rockwell Automation Rockwell Software RSLogix 5000 and SoftLogix are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Summary of Changes This manual contains new and updated information Changes throughout this revision are marked by change bars as shown to the right of this paragraph Updated Information The document contains these changes Topic Page Updated Additional Resources table 33 Updated text and formatting Throughout Added AXIS_CIP_DRIVE type to Table 44 123 Updated Error 75 Corrective Action or Cause 349 Updated table footnote 393 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 3 Summary of Changes Notes 4 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Instruction Locator Where to Find an Instruction Use this locator to find the reference details about Logix instructions The grayed out instructions are available in other manuals This locator also lists which programming languages are available for the instructions Table 1 Instruction Locator If the locator lists The i
224. ces sume Rae aM he Se ctisn ea G ats 151 Specifying and Calculating the Cam Profile 04 152 Arithmetic Status Flags wsele Suelo ulihy eda te Monee a 154 Pale Conditions ss eetere cits AEAEE 154 MGCP top odes miseen se Ree alas ee Soe eens 154 MCCP Changes to Status Bits 14s yehacGnnote earn eke 154 ME CP Example see erm aa ee cece eA a N 155 Motion Axis Position Cam MAPC 0c cece cece encase 156 Operands e Sea atria ig oan Na binant ele A dena 156 Descriptions tay sick ck E a E abe tk Cherie ae oe dha 160 Specifying the Cam Profile t iiacc ccc evbiagev es saanaics 161 Scaling Position Gamisi c a dss gas pamennenanee aves eee pease 162 MAPC Execution Schedule 0 0 cc ccc cececcnceceeees 163 Master Position Reference 0ccccccceucesvacucucueees 169 Master Direction ici s a8 ciilsis ereer e oh ap ok bee na IS SS 170 Moving While Camming wis caves ndeaxsogeyeses vit eeen eaens 171 Stoppinga Cami ata vite tees Oak oh lA all Mae Oe al csc 171 Merging trom Cay escdessaeesss oni EOP E EERE E E 172 Handling Axis Faults fusing wd a nenerererrrrrrerererrere 172 Arithmetic Status Flags cncsrwiidetd chose ded ee steed akties 173 Fault Conditions sisri en tented a ceele th eae eda 173 MAPC Exccution Conditions 0 45 0964 cy eada ease beawee ens 174 MAPC Error Codes iheucednaintacada tae humbdawadaneneitinns 175 14 Rockwell Automation Publication MOTION RM002E EN P July 2015 Motion Group Inst
225. cify a Lock Position to delay the start of motion of a Slave Axis after the motion instruction has been initiated on the Slave Axis If a Slave Axis is already moving and a second move instruction of the same type MAM MAJ MATC is activated on the same Slave with a Lock Position then you will receive an MDSC LOCK WHILE MOVING error for the second instruction Because Merge is always performed immediately when an instruction is enabled a merge instruction with both a Lock Position and a Merge enabled that is executed on a Slave Axis when it is at a nonzero velocity will receive an MDSC LOCK WHILE MOVING error The Lock Direction determines the direction in which the Master Axis must be moving when it crosses the Lock Position before the Slave locks to the Master Axis If there is an unwind value specified on the Master Axis then the Master Lock Position must be between 0 and the unwind value that is the Lock Position cannot be more than one unwind This parameter is used only in Master Driven mode Lock Position in Time Driven Mode In Time Driven mode the Lock Direction must be set to None or an error will be generated Axis Lock Behavior When the Master axis crosses the Master Lock position in the direction as specified by the motion instruction the slave becomes locked to the Master axis The LockStatus bit of the Slave axis status word is set at this time The MAM and MAJ instructions on the slave axis in MDSC mode go IP as soon
226. ck device 1 Command The desired or commanded position of the master axis Structured Text MAOC Axis ExecutionTarget MotionControl Output Input OutputCam Cam StartPosition CamEndPosition OutputCompensation ExecutionMode Executio nSchedule AxisArmPosition CamArmPosition Reference The operands are the same as those for the relay ladder MAOC instruction For the array operands you do not have to include the array index If you do not include the index the instruction starts with the first element in the array 0 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 241 Chapter4 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Table 96 MAOC Operand Selections This Operand ExecutionMode Has These Options That You Enter as Text Or Enter as a Number once continuous persistent ExecutionSchedule immediate pending forwardonly reverseonly bidirectional Reference actual command oO WN oO N o MOTION_INSTRUCTION Structure Table 97 MAOC MOTION_INSTRUCTION Structure Descriptions Enumerations EN Enable Bit 31 Description It is set when the rung makes a false to true transition and remains set until the rung goes false DN Done Bit 29 It is set when Output Cam has been successfully initiated ER Error Bit 28 It is set to indicate that the instruction detected an error such as if you specified an unconfigured axis IP In Process
227. cription 0 linear 1 cubic The CAM_PROFILE data type is an array of coefficients representing a calculated cam profile that can be used as input to a time cam or position cam instruction The only element available to you is Status that is defined in the following table Rockwell Automation Publication MOTION RMOO2E EN P July 2015 353 AppendixB Motion related Data Types Structures Table 160 Status Element Description Enumerations Status MOTION GROUP Structure Data Type Description DINT The status parameter is used to indicate that the Cam Profile array element has been calculated If execution of a camming instruction is attempted using an uncalculated element in a Cam Profile the instruction produces an error Value Description 0 Cam profile element has not been calculated 1 Cam profile element is being calculated 2 Cam profile element has been calculated n Cam profile element has been calculated and is currently being used by n 2 MAPC and MATC instructions There is one MOTION_GROUP data type per controller This structure contains status and configuration information about the motion group Table 161 MOTION_GROUP Status and Configuration Descriptions Enumerations Data Type Description GroupStatus DINT The status bits for the group Bit Number Data Type Description InhibitStatus 00 DINT Inhibit status
228. ction executes in parallel to the program scan The controller checks if the servo module is ready to receive a new message The controller places the results of the check in the message status word of the control structure When the module is ready the controller constructs and transmits the message to the module This process can repeat several times if the instruction requires multiple messages If the controller Does not detect an error when the instruction executes The controller sets the DN bit if all messaging to the module is completed Detects an error when the instruction executes The controller sets the ER bit and stores an error code in the control structure The next time the rung becomes false after either the DN or ER bit sets the controller clears the EN bit When the rung becomes true the controller can execute the instruction again 28 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Preface Figure 2 Message Type Instructions Rung Conditions EN Scan Scan Execution Scan Scan rung rung complete rung rung true false false true Process Type Instructions Process type motion instructions initiate motion processes that can take an indefinite amount of time to complete Examples of process type instructions include the following e Motion Arm Watch MAW instruction e Motion Axis Move MAM instruction Process type instructions work as follows 1 When
229. cutes when the axis is in the Axis Ready state for example servo action is OFF The resulting state of the axis is referred to as the Drive Control state 60 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 The MDO instruction automatically enables the specified axis by activating the appropriate Drive Enable output before setting the servo module s analog output to the specified voltage value There is typically a 500 msec delay between the activation of the drive enable output and the setting of the analog output to the specified level to allow the drive s power structure to stabilize To minimize drift during this drive enabling delay the output voltage to the drive is set to the Output Offset attribute value default is zero Thereafter the output voltage is given by the specified Drive Output value of the MDO instruction and indicated by the Servo Output status attribute value The 16 bit DAC hardware associated with various Logix servo modules limits the effective resolution of the Direct Drive Motion Control to 305 uV or 0 003 In the case of Direct Drive operation the module s servo loop is inactive and bypassed The Motion Direct Drive On instruction is only affected by the Servo Output Polarity configuration bit the Output Offset and Output Limit attributes for the axis In the case where Output Limit configuration value is r
230. d acceleration and deceleration values can be entered as percentages of the current maximum configured value or directly in the configured speed or acceleration units of the axis If the targeted axis does not appear in the list of available axes the axis has not been configured for servo operation Use the Tag Editor to create and configure a new axis 136 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 ATTENTION Risk of Velocity and or End Position Overshoot rN If you change move parameters dynamically by any method that is by changing move dynamics Motion Change Dynamics MCD instruction or Motion Coordinated Change Dynamics MCCD or by starting a new instruction before the last one has completed be aware of the risk of velocity and or end position overshoot A Trapezoidal velocity profile can overshoot if maximum deceleration is decreased while the move is decelerating or is close to the deceleration point An S curve velocity profile can overshoot if one of these occurs e maximum deceleration is decreased while the move is decelerating or close to the deceleration point e maximum acceleration jerk is decreased and the axis is accelerating Keep in mind however that jerk can be changed indirectly if it is specified in of time For more information see Analyzing Axis Motion on page 331 Executing
231. d the Time Cam Status bit in the axis Motion Status word is set If the Execution Schedule parameter is set to Immediate the axis is immediately locked to the time master coordinate according to the specified Cam Profile Rockwell Automation Publication MOTION RMO02E EN P July 2015 407 Appendix E Camming Figure 54 Time Cam Status Gam Profile Axis Position Time 1 o Time Gam Status Time Gam Initiated Ifan MATC instruction is executed on an axis that is already actively time camming an Illegal Dynamic Change error is generated error code 23 The only exception for this is if the Execution Schedule is specified as pending Pending An MATC instruction s execution can be deferred pending completion of a currently executing time cam profile You can use Execution Schedule selection of Pending to seamlessly blend two time cam profiles together without stopping motion Pending Cams Cam pending is a technique that lets the blending of one cam profile together 408 with another without stopping either master or slave axis movement An Execution Schedule selection of Pending can thus be used to seamlessly blend two position cam profiles together without stopping motion The Pending execution feature is particularly useful when the axis must be accelerated up to speed by using a specific velocity profile When this acceleration profile is done it must be smoothly blended into the operating cam profile tha
232. de An error occurs when you verify the routine The following table shows acceptable combinations of Acceleration Units and Jerk Units when Speed Units are Units per Master Unit Table 146 Acceleration Units and Jerk Units when Speed Units are Units per Master Unit Jerk Units Acceleration and Deceleration Units 2 Units per sec Maximum Seconds Time Driven Mode Time Driven Mode Time Driven Mode Units Units Units Units per MasterUnit2 Master Units Master Master Driven Mode Driven Mode Units Units Units per sec Time Driven Mode Units Maximum Time Driven Mode Units of Time Time Driven Mode Units Seconds Time Driven Mode Units Incompatible combinations of Time and Master Driven mode An error occurs when you verify the routine Incompatible combinations of Time and Master Driven mode A runtime error occurs Units per MasterUnits Master Driven Mode Units of Time Master Driven Master Driven Mode Units Master Units Incompatible combinations of Time and Master Driven mode An error occurs when you verify the routine New Enumeration Not Implemented New Enumeration Not Implemented Not Implemented Not Implemented Master Driven Mode Units 320 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Table 147 Acceleration Units and Jerk Units when Speed Units are in Seconds Speed Units in Seconds MDSC Functi
233. diate Forward Only 2 Immediate Reverse Only 3 Position Forward Only 4 Position Reverse Only MAJ MOTION_INSTRUCTION Structure Table 39 MAJ Motion_Instruction Enumeration Descriptions Enumeration Description EN Enable Bit 31 A false to true transition caused the instruction to execute The EN bit stays set until the process is complete and the rung goes false DN Done Bit 29 The jog was successfully initiated ER Error Bit 28 An error occurred IP In Process Bit 27 The axis is jogging Any of these actions stop this jog and clear the IP bit e Another MAJ instruction supersedes this MAJ instruction Motion Axis Stop MAS instruction e Merge from another instruction Shutdown command e Fault Action 102 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Description Use the MAJ instruction to move an axis at a constant speed without regard to position If you change move parameters dynamically by any method that is by changing move dynamics Motion Change Dynamics MCD instruction or Motion Coordinated Change Dynamics MCCD or by starting a new instruction before the last one has completed be aware of the risk of velocity and or end position overshoot ATTENTION Risk of Velocity and or End Position Overshoot A Trapezoidal velocity profile can overshoot if maximum decele
234. directly programmed in units of seconds Figure 41 MDSC Time Base Example MDSC Time Base Time Sa 10 seconds en ee u 3 seconds 3 seconds If the sum of the Acceleration and Deceleration time is greater than the total time as specified by the speed the Acceleration and Deceleration time is reduced proportionately so the total specified time in the Speed Parameter is met The Speed when programmed in seconds takes priority over Acceleration and Deceleration which in turn takes priority over Jerk The move will always complete in the specified total time If the time is too short for the axes physical limits then a servo drive fault results If programmed move parameters are inconsistent then an attempt to fix the inconsistency is done by giving priority to parameters in the following order the lower number has the higher priority 1 Total move length This parameter is always satisfied as programmed it is never changed 2 Total move duration 3 Acceleration and Deceleration time 4 Acceleration and deceleration Jerk e Ifthe Acceleration Jerk time is greater than 50 of the Acceleration Time then the time is reduced so that the Acceleration completes in the specified Acceleration Time Similar calculations are performed for the Deceleration Jerk times e Ifspeed units are programmed in units of seconds then acceleration and deceleration must also be programmed in seconds For this case the jerk can be
235. do something else if conditions are false IF THEN ELSE choose from alternative statements or do nothing if conditions are false IF THEN ELSIF groups of statements based on input 7 conditions assign default statements if all conditions IF THEN ELSIF ELSE are false Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions 372 Rockwell Automation Publication MOTION RM002E EN P July 2015 If You Want This IF rejects gt 3 then Structured Text Programming Example 1 IF THEN Enter This Structured Text IF rejects gt 3 THEN conveyor off 0 conveyor 0 alarm on 1 alarm 1 END_IF Example 2 IF THEN ELSE If You Want This Enter This Structured Text If conveyor direction contact forward 1 then IF conveyor_direction THEN light off light 0 Otherwise light on ELSE light 1 END_IF The tells the controller to clear light whenever the controller e enters the RUN mode Appendix C e leaves the step of an SFC if you configure the SFC for Automatic reset This applies only if you embed the assignment in the action of the step or use the action to call a structured text routine via a JSR instruction Rockwell Automation Publication MOTION RMOO2E EN P July 2015 373 AppendixC Structured Text Programming If You Want This Example
236. due to insufficient test increment distance to make a reliable measurement Test Increment Fault 6 Test Process Failed due to insufficient test increment distance to make a Feedback 2 reliable measurement on Feedback 2 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 To successfully execute a MRHD instruction running the Motor Encoder Test the targeted axis must be configured as a Servo Axis Type and the axis must be in the Axis Ready state For other tests this instruction executes properly on either a Servo or Feedback Only axis type If any of these conditions are not met than the instruction errs IMPORTANT When the MRHD instruction is initially executed the In process IP bit is set and the Process Complete PC bit is cleared The MRHD instruction execution can take multiple scans to execute because it requires transmission of multiple messages to the motion module The Done DN bit is not set immediately but after these messages are successfully transmitted The In process IP bit is cleared and the Process Complete PC bit is set at the same time that the Done DN bit is set Description AXIS_CIP_DRIVE The MRHD instruction is used to execute various test diagnostics on the specified CIP axis to test the integrity and in some cases the polarity of servo field connections There are currently test diagnostics supporting drive hooku
237. e Encoder Hookup Test If the Encoder Test is selected the motion module does not generate any axis motion but simply monitors axis encoder feedback The axis can then be moved by hand or by some other independent drive actuator to generate motion When the motion module detects that the axis has moved a distance greater than or equal to the configured Motor Encoder Test Increment the test is complete The motion module then reports the direction of travel as one of the following MRHD output parameters CC Axis Parameter Definition Test Status Integer Status Report of the Hookup Diagnostic Test Process Test Direction Forward DINT Direction of axis travel during hookup test as seen by the motion module If due to improper hookup or some other problem with the system the axis feedback fails to detect the axis reaching the configured Motor Encoder Test Increment after moving the axis at least that distance then abort the test by using the MAS instruction and check the encoder wiring Rockwell Automation Publication MOTION RMOO2E EN P July 2015 287 Chapter 5 288 Motion Configuration Instructions MAAT MRAT MAHD MRHD Marker Hookup Test If the Marker Test is selected the motion module does not generate any axis motion but simply monitors axis encoder feedback The axis can then be moved by hand or by some other independent drive actuator to generate motion When the motion module detects a marker
238. e The EN bit is cleared if either the DN or ER bit is set N A Otherwise the EN bit is not affected The DN and ER bits are not affected The rung condition out is set to false Rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes Instruction execution See the following figure Postscan The rung condition out is set to false No action taken Examine EN bit EN bit 1 EN bit remains set Rung condition out remains set to true EN bit 0 EN bit is set Instruction detects an error Rung condition out is set to true motion task EN bit remains set DN bit remains clear ER bit is set Rung condition out remains true Processing runs to completion in Function complete EN bit remains set DN bit remains clear ER bit remains clear Rung condition out is not affected Rockwell Automation Publication MOTION RMOO2E EN P July 2015 EN bit remains set DN bit is set ER bit remains clear Rung condition out is not affected 67 Chapter 1 68 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Error Codes See Error Codes ERR for Motion Instructions on page 345 MDF Changes to Status Bits Bit Name Meaning DriveEnableStatus Axis is in Axis Ready stat
239. e Home status bit transitions to the FALSE state The MAH instructions sets the HomedStatus bit upon successful completion of the configured homing sequence This bit indicates that an absolute machine reference position has been established When this bit is set operations that require a machine reference such as Software Overtravel checking can be meaningfully enabled Rockwell Automation Publication MOTION RMOO2E EN P July 2015 93 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV For non CIP Drive axis data types the HomedStatus bit is cleared under the following conditions e Download e Control power cycle e Reconnection to Motion Module e Feedback Loss Fault e Shutdown If you change move parameters dynamically by any method that is by changing move dynamics Motion Change Dynamics MCD instruction or Motion Coordinated Change Dynamics MCCD or by starting a new instruction before the last one has completed be aware of the risk of velocity and or end position overshoot ATTENTION Risk of Velocity and or End Position Overshoot A Trapezoidal velocity profile can overshoot if maximum deceleration is decreased while the move is decelerating or is close to the deceleration point An S curve velocity profile can overshoot if one of these occurs e Maximum deceleration is decreased while the move is decelerating or close to the deceleration point e Maximum accelerati
240. e Position Home and Registration 2 are mutually exclusive sercos Extended Error Codes for the Parameter Out of Range 13 error code work a little differently Rather than having a standard enumeration the number that appears for the Extended Error code refers to the number of the operand as they are listed in the faceplate from top to bottom with the first operand being counted as zero Therefore for the MRP instruction an extended error code of 4 would refer to the Position operand s value You would then have to check your value with the accepted range of values for the instruction MRP Changes to Status Bits If the axis has been homed prior to executing the MRP instruction the HomedStatus bit is set The HomedStatus bit is cleared when the MRP instruction is executed This indicates the axis position is no longer referenced to the home position If the axis has been homed by using the absolute home procedure the AbsoluteReferenceStatus is set HomedStatus can also be set is the axis has not been subject to a power cycle AbsoluteReferenceStatus should be cleared when the MRP is executed This indicates the axis position is no longer referenced to the absolute home position Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 MRP Example When the input conditions are true the controller changes the position of axis
241. e Registration Position variable corresponding to the registration input for example Registration 1 Position 1 or Registration 2 Position Figure 19 Registration Registration Registration_status Input Registration_status Registration Registration Event Event Set Up Occurs Multiple registration events can be active at any time for a given axis but only one can be active per registration input Each event is monitored independently and can be checked by using the appropriate RegEventStatus bit Windowed Registration When the Windowed Reg checkbox is checked the selected trip state only results in a registration event if it occurs when the axis is within the window defined by the minimum and maximum positions as shown in Figure 20 Figure 20 Windowed Registration Minimum Maximum Position ie x Position Axis Position Rockwell Automation Publication MOTION RM002E EN P July 2015 229 Chapter 4 230 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Enter values or tag variables for the desired absolute positions that define the position window within which the selected trip state of the Registration input is valid Windowed registration is useful in providing a mechanism to ignore spurious or random transitions of the registration sensor thus improving the noise immunity of high speed registration inputs For linear axes the values can be positive negative or a combination Howe
242. e is an active MDAC All on a Slave then setting the MDAC instruction to a Motion Type other than All causes a runtime error To reassign the Master once anything other than the All option is used you must execute any of the following e On the Slave Axis MAS All MCS All MGS MASD MCSD or MGSD e On the Master Axis MASD MCSD or MGSD If you assign the same axis to be both a Master and a Slave Axis an RSLogix 5000 software verification error is generated If the slave is not moving when the master axis is changed then no problem will ever occur However if the slave is in motion when the change in master axes occurs then the final effective slave speed is computed as the product of the Master Axis speed and the slave s programmed speed If the new final effective Slave Axis speed is less than 5 of its original speed after a change in the Master Axis then the change will not be allowed and the MDSC_INVALID_SLAVE SPEED REDUCTION error will occur This will always be the case if the second master axis is idle velocity 0 In this case the motion instruction making this request receives an MDSC_IDLE_MASTER_AND_SLAVE_MOVING error If the second Master Axis is moving while the change in the master axis is being made look at the TrackingMaster instruction status bit of the Motion Control words The Motion Control words of the motion instruction that is performing the change displays when the change in masters is fini
243. e is considered and you are warned with an instruction error Illegal Output Compensation A cycle time less than or equal to 0 and the mode is set to Pulsed or Inverted and Pulsed Output The output bit is not pulsed and you are warned with an instruction error Illegal Output Compensation The output is the set of 32 output bits that can be set and reset depending on the specified Output Cam The output can be either a memory location or a physical output for example Local 0 0 Data Input The input is the set of 32 input bits that are can be used as enable bits depending on the specified Output Cam The input can be either a memory location or a physical input for example Local 0 I Data Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 251 Chapter4 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC MAOC Execution Conditions Condition Ladder Diagram Action Structured Text Action Prescan The EN DN and ER bits are cleared No action taken The rung condition out is set to false rung condition in is false The EN bit is cleared if either the DN or ER bit is set N A Otherwise the EN bit is not affected The DN and ER bits are not affected The rung co
244. e number of slave axis feedback counts and the number of master axis feedback counts See The Tag variable Builder earlier in this manual for information on tag variables IMPORTANT The Conversion Constant entered as part of the axis configuration procedure is not used when the Ratio Format for the MAG instruction is specified as a Fraction If your gear ratio cannot be exactly expressed as a real number with a maximum of five digits to the right of the decimal point use Fraction as the Ratio Format Specifying the gear ratio as a fraction allows the direct implementation of irrational gear ratios such as 1 3 with no accumulated positioning errors or round off Because the master and slave count values do not use the axis conversion constants and because they are integers the actual gear ratio relationship between the slave and master axes exactly match the specified ratio For example the irrational gear ratio of 1 3 can be equivalently specified as 1 slave count to 3 master counts 10 slave counts to 30 master counts 3 slave counts to 9 master counts Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Clutch Function By using the clutch feature you avoid the uncontrolled acceleration or deceleration that results when electronic gearing is enabled while the master axis is moving The clutch feature can also be used to merge
245. e of Contents MAG Changes to Status Bits ctyi svat SA el ESS 132 MAG Example oe o0 ek ostn wtetts strane atn ie nega TENERE CENAN 132 Motion Change Dynamics MCD 3 30 cals tomers ken 133 Operands lt i Go tas a a e E a EN 133 Description er nnen ie gin ERER E ETR 136 Programming Guidelines csv aicendieiteeoenpep ees auc es 137 Arithmetic Status Flags atasowers towed ngiees wot igeaieewieaats 139 Fault Conditions i cicrw eh maine suede le Gs Res ne ened aie 139 MCD Execution Conditions ccc cece cence cece ees 139 MCI Eror Codeseda wie nites bok TT Lats te ae dees bk oo 140 MCD Changes to Status Bits i030 ic vies csodeeeeeeeas anes es 140 MCD Frampl siess nereste a a E cia cee 141 Motion Redefine Position MRP ce cece cn eeeen ence 142 Operandi aaeeei e Bene eh tees Wea ere ate E A 142 Description eroras ar E po 05 aw EEE E eles 143 Programming Guidelines c oxicouwdi rasan rererere errre rera 144 Arithmetic Status Flags aie tees bel Cheer aoe chet 146 Baile On dations srs cei se thee 8 sa ere i E nee Leet 146 MRP Execution Conditions isci aswee hia eks ieee ned vecaees 147 MRP Error Codes tt ic ocean gst het oes ea a een enh 148 MRP Changes to Status Bits crscc oghsedenteivns states 148 MRP Examples cjcwkstajseinda eae bee AERES EE EORR ANER 149 Motion Calculate Cam Profile MCCP 0 0 c cece cence ee 150 Operands 4 tccviudu etek beens oe heee teehee teeters 150 DPesrnipion serranus ugh a ac
246. e old MAJ instruction The axis uses the speed acceleration deceleration and jerk of the new instruction For more information see Analyzing Axis Motion on page 331 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Table 40 MAJ Extended Error Codes Description Stop a Jog Use an MAS instruction to stop the jog See the examples on page 89 Change the Speed Use an MCD instruction to change the speed while jogging See the examples on page 141 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions MAJ Error Codes See Error Codes ERR for Motion Instructions on page 345 MAJ Extended Error Codes Use Extended Error Codes EXERR for more information about an error If ERR is And EXERRis Then Cause Corrective Action 13 Varies An operand is outside its range The EXERR is the number of the operand that is out of range The first operand is 0 For example if EXERR 3 then check the Speed EXERR Operand 0 Axis 1 Motion Control 2 Direction 3 Speed 54 1 The coordinate system has a Maximum Click the Properties for the coordinate system axis and set a Maximum Deceleration Deceleration of 0 0 or more An axis in the coordinate system has a 1 Open the Properties for the axis Maximum Deceleration of 0 2 Us
247. e speed of the recirculation pump The speed depends on the temperature in the tank IF tank temp gt 200 THEN comment Sugar Inlet 0 close the inlet IF bar_code 65 A THEN Gets the number of elements in the Inventory array and stores the value in the Inventory_Items tag SIZE Inventory 0 Inventory_Items Rockwell Automation Publication MOTION RMO02E EN P July 2015 387 AppendixC Structured Text Programming Notes 388 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Appendix D Motion Instructions and Integrated Motion Control Modes This table lists the motion instructions and the support for integrated motion related to the Axis Configuration and Feedback Type parameters For more information about axis configuration feedback types and control modes see these publications e Integrated Motion on the Ethernet IP Network User Manual publication MOTION UMO003 e Integrated Motion on the Ethernet IP Network Reference Manual publication MOTION RMO003 Symbol Description X Yes No MSO and MDS execution initiate mutually exclusive modes of operation and execution is conditional on mode Ref detail in MSO and MDS documentation Axis can be used as a master axis reference only for this instruction C Axis can conditionally use motion planner instructions if enabled with MSO Table 188 Motion Instructions and the Related Control Modes instructi
248. e the EXERR value to see which axis has the Maximum Deceleration of 0 3 The axis that you are jogging has a deceleration rate of 0 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 105 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV MAJ Changes to Status Bits If Merge is Then the Instruction Changes These Bits Bit Name State Meaning Disabled JogStatus TRUE The axis is Jogging Enabled JogStatus TRUE The axis is Jogging MoveStatus FALSE The axis is no longer Moving GearingStatus FALSE The axis is no longer Gearing 106 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG Example 1 Jog with Speed Change Relay Ladder When Servo_Axis_Vars _ AutoRun turns on Run Servo_Axis at Auto_Speed MCD MRP MCCP MAPC MATC MCSV Chapter 2 If Auto_Speed changes then change the speed of the jog to the new value of Auto_Speed When Servo_Axis_Vars I Stop turns on stop Servo_Axis Servo_Axis_Vars l AutoRun Axis Direction Speed Speed Units Accel Rate Accel Units Decel Rate The instruction doesn t use the jerk values because the profile is Trapezoidal Decel Units Profile Accel Jerk Decel Jerk Jerk Units Merge Motion Control Merge Speed AJ Motion Axis Jog Servo_Axis
249. e with the Drive Enable output now active MDF Example When the input conditions are true the controller deactivates the servo drive for axis1 and sets the servo output voltage of axis_ to the output offset value Relay Ladder MDF Motion Direct Drive Off Axis AxisO J Motion Control MDF_1 177 Structured Text MDF Axis0O MDF_1 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 Motion Drive Start M DS Use the Motion Drive Start MDS instruction to activate the drive control loops for the specified CIP axis and run the motor at the specified speed IMPORTANT You can only use the MDS instruction with controllers that support the AXIS_CIP_DRIVE data type The MDS instruction is never valid in Position Loop or Feedback Only modes It is operational in Velocity Loop mode only in drives supporting these ramp attributes e RampAcceleration e RampDeceleration e RampVelocity Positive e RampVelocity Negative e Ramplerk Control Torque mode is operational on all CIP drive devices 1 Only supported on PowerFlex 700 and 755 drive modules Operands The MDS instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder DS Motion Drive Start EN Axis DN Motion Control ER Speed IP Speed Units Table 23 MDS Relay Ladder
250. eated in order to use the MCCP instruction Rockwell Automation Publication MOTION RMOO2E EN P July 2015 161 Chapter 2 162 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Refer to the Motion Calculate Cam Profile MCCP instruction specification for more detail on converting Cam arrays The Status member of this Cam Profile is used is used to indicate that the corresponding Cam Profile array element has been calculated If execution of a camming instruction is attempted with any uncalculated elements in a cam profile the instruction errors The type parameter determines the type of interpolation applied between this cam array element and the next cam element for example linear or cubic The Status member of the first element in the cam profile array is special and used for data integrity checks For this reason the MAPC must always specify the cam profile with the starting index set to 0 This first cam profile element Status member can have the following values Table 63 MAPC Status Member Value Descriptions Status Value Description 0 Cam profile element has not been calculated 1 Cam profile element is being calculated 2 Cam profile element has been calculated n Cam profile element has been calculated and is currently being used by n 2 MAPC or MATC instructions Before starting a cam on a specified axis the MAPC instructions checks if the cam profile array has
251. ected Function complete EN bit remains set DN bit remains clear ER bit remains clear Rung condition out is not affected MDOC Error Codes See Error Codes ERR for Motion Instructions on page 345 258 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 MDOC Extended Error Codes Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions Extended Error Codes for the Parameter Out of Range 13 error code lists a number that refers to the number of the operand as they are listed in the faceplate from top to bottom with the first operand being counted as zero Therefore for the MDOC instruction an extended error code of 4 would refer to the Disarm Type operand s value You would then have to check your value with the accepted range of values for the instruction Table 105 MDOC Extended Error Codes Description If ERR is And EXERRis Then Cause Corrective Action 11 Varies Axis is not configured Reconfigure the axis 13 Varies An operand is outside its range The EXERR is the number of the operand that is out of range The first operand is 0 For example if EXERR 3 then check the Speed EXERR Operand 0 Axis 1 Motion Control 2 Direction 3 Speed 4 Output 19 Varies Motion group is not synchron
252. ectronic camming between any two axes according to the specified cam profile When an MAPC instruction is executed the specified Slave Axis is synchronized to the designated Master Axis by using a position cam profile established by the Logix Designer Cam Profile Editor or by a previously executed Motion Calculate Cam Profile MCCP instruction The MAPC instruction executes a position cam profile set up by a previous Motion Calculate Cam Profile MCCP instruction or alternatively by the Logix Designer Cam Profile Editor Position cams in effect provide the capability of implementing non linear electronic gearing relationships between two axes No maximum velocity acceleration or deceleration limits are used The speed acceleration and deceleration of the slave axis are completely determined by the motion of the master axis and the designated cam profile derived from the associated cam table established during axis configuration do not apply to electronic i ATTENTION The maximum velocity acceleration or deceleration limits camming Operands The MAPC instruction supports the following operands e Relay Ladder e Structured Text Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Relay Ladder MAPC 4 Motion Axis Position Cam E Slave Axis 5 Master Axis D Motion Control Direction ERR
253. ecute a Motion Axis Jog MAJ instruction Before the axis gets to its target speed you try to stop it with another Motion Axis Jog MAJ instruction The speed of the second instruction is set to zero The axis continues to speed up and overshoots its initial target speed Eventually it slows to a stop Look For Jog_PB sLocal 4 Data 1 0 My_Axis_OK AJ e Motion Axis Jog EN Axis My_Axis Motion Control Manual_Jog ON Direction 0 ER The Motion Axis Jog MAJ instruction that a e iP starts the axis has a higher acceleration than Speed Units Units per sec the instruction that stops the axis Accel Rate Manual_Jog_Accel 20 06 Accel Units Units per sec2 Decel Rate Manual_Jog_Decel 20 0 Decel Units Units per sec2 S curve profile Profile S Curve Accel Jerk Manual_Jog_Accel_Jerk 100 0 Decel Jerk Manual_Jog_Decel_Jerk 100 0 Jerk Units of Time Merge Disabled Merge Speed Programmed lt lt Less Jog_Pb sLocal 4 Data 1 0 My_Axis_OK Ad Motion Axis Jog Axis My_Axis Motion Control Jog_2 Direction 0 7 y d q Speed Jog_2_Speed The Motion Axis Jog MAJ instruction that ooe stops the axis has a lower acceleration than Speed Units Units per sec the instruction that starts the axis Accel Rate Jog_2_Accel 100 Accel Units Units per sec2 Decel Rate Jog_2_Decel 20 0 Decel Units Units per sec2 S curve profile Profile Curve Accel Jerk 100 0 Decel Jerk 100 0 334 Rockwell Automation Publication MOT
254. ed if either the DN or ER bit is set N A Otherwise the EN bit is not affected The DN ER IP and PC bits are not affected The rung condition out is set to false N A Rung condition in is true The instruction executes The rung condition out is set to true Enableln N A Enablein is always set The instruction executes Instruction execution See the following figure Postscan The rung condition out is set to false No action taken EN bit 0 Examine EN bit EN bit is set EN bit 1 Instruction detects an error EN bit remains set DN bit remains clear ER bit is set IP bit remains clear PC bit remains clear EN bit remains set Rung condition out remains set to true Rung condition out is true EN bit remains set DN bit is affected ER bit remains clear IP bit is set PC bit remains clear Rung condition out Processing runs to completion in Motion task IP bit is cleared PC bit is set Process complete not affected EN bit remains set DN bit remains set ER bit remains clear Rung condition out is is set to true No Yes Process aborted IP bit is cleared not affected EN bit remains set DN bit remains set ER bit remains clear PC bit remains clear Rung condition out is Rockwell Automation Pub
255. ed text Structured text is not case sensitive Structured text can contain these components Table 165 Structured Text Component Descriptions Term Descriptions Examples Assignment Use an assignment statement to assign values to tags tag expression see page 360 The operator is the assignment operator Terminate the assignment with a semi colon Expression An expression is part of a complete assignment or construct statement An expression evaluates see page 362 to anumber numerical expression or to a true or false state BOOL expression An expression contains the following Tags Anamed area of the memory where data is stored BOOL value1 SINT INT DINT REAL string Immediate A constant value 4 Operators Asymbol or mnemonic that specifies an operation within an tag tag2 expression tag1 gt value1 Functions When executed a function yields one value Use parentheses to function tag1 contain the operand of a function Even though their syntax is similar functions differ from instructions in that functions can only be used in expressions Instructions cannot be used in expressions Rockwell Automation Publication MOTION RM002E EN P July 2015 359 Appendix C Structured Text Programming Table 165 Structured Text Component Descriptions Continued Term Descriptions Examples Instruction An instruction is a standalone stateme
256. ed to make the axis move from the move s start point to a point where distance to go is less than the specified Event Distance If the specified data in the Event Distance is array element is 0 0 then the time it takes the entire move to complete is returned If the value is greater than or equal to the move length then a 0 is returned The Logix Designer application Motion Planner processes and calculates output data and places the result in the Calculated Data array as supplied in the instruction The number of calculated array elements stored in the Calculated Data array is based on the follow conditions The number of elements in the Event Distance array e For each of the first 4 elements Event Data array one element will be computed and placed in the Calculated Data array The fifth element and beyond of the Event Distance array are ignored Existing values in the Calculated Data array are overlaid when the Event Distance array is processed A 1 will be returned in the Calculated Data array for each negative value in the Event Distance array No Event Distance calculation is made for these array elements You can change the Event Distance array elements dynamically in the program However if the Event Distance is changed after the instruction has been initiated that is the IP bit has been set then the change is ignored An error is generated if size of the Calculated Data array is smaller than the Event Distance array T
257. educed below the current output voltage value the Servo Output value is automatically clamped to the Output Limit value The most common use of this instruction is to provide an independent programmable analog output as an open loop speed reference for an external drive or for testing an external servo drive for closed loop operation Executing the Instruction To successfully execute a MDO instruction the targeted axis must be configured as a Servo axis and be in the Axis Ready state with servo action off If these conditions are not met the instruction errs IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 61 Chapter1 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Loss of Feedback When Using an MDO Instruction If you experience a loss of feedback when issuing an MDO instruction and need to move the axis with an MDO instruction follow these steps 1 Set the Feedback Faul
258. eed Acceleration Deceleration and Jerk enter them for the master axis Rockwell Automation Publication MOTION RMO02E EN P July 2015 115 Chapter 2 116 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV While the PositionCamLockStatus 0 Master Offset changes are applied to the master side of the position cam There will be no corresponding change to the slave axis side of the position cam The instruction adds in the offset at the Speed Acceleration Deceleration and Jerk values of Time Use of Time to program and tune a jerk enter it as a of the acceleration or deceleration time For more information see Tune an S curve Profile on page 327 Merge to Cancel These are programming guidelines when you want to use Merge to cancel the motion that is already in process e Ifyou want to add the move to any motion already in process set Merge Disabled Merge Speed Programmed The instruction ignores Merge Speed but you must fill it in anyway e Ifyou want to end the motion from other instructions and just move at the speed that you set in this instruction set Merge Enabled Merge Speed Programmed e Ifyou want to end the motion from another instruction and just move at the speed that the axis is already moving at set Merge Enabled Merge Speed Current The instruction ignores the value that you put in the Speed operand Ifit isan Absolute or
259. eleration Units and Jerk Units when Speed is in Master Units Table 148 Acceleration Units and Jerk Units when Speed is in Master Units Speed Units in Master Units Acceleration Speed in MasterUnits Jerk Units 322 Units per sec Time Driven Mode Units Maximum Time Driven Mode Units Seconds Time Driven Mode Units Units per MasterUnit2 Master Driven Mode Units Master Units Master Driven Mode Units Units per sec Time Driven Mode Units Maximum Time Driven Mode Units of Time Time Driven Mode Units Seconds Time Driven Mode Units Incompatible combinations of Time and Master Driven mode An error occurs when you verify the routine Incompatible combinations of Time and Master Driven mode An error occurs when you verify the routine Units per MasterUnits Master Driven Mode Units of Time Master Driven Master Driven Mode Units Master Units Master Driven Mode Units Incompatible combinations of Time and Master Driven mode An error occurs when you verify the routine Not Implemented Not Implemented Not Implemented New Enumeration Not Implemented Rockwell Automation Publication MOTION RMOO2E EN P July 2015 New Enumeration Time Based Planning MDSC Functionality Chapter 6 With time based planning the dynamics of the move that is the Speed Acceleration Deceleration or Jerk can be
260. ell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence gt gt IMPORTANT Identifies information that is critical for successful application and understanding of the product Labels may also be on or inside the equipment to provide specific precautions SHOCK HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures gt amp ARC FLASH HAZARD Labels may be on or inside the equipment for example a motor control center to alert people to potential Arc Flash Arc Flash will
261. en the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 It is set when the axis servo action been successfully disabled and the drive enable and servo active status bits have both been cleared ER Done Bit 28 It is set to indicate that the instruction detected an error such as if you specified an unconfigured axis Description The MSF instruction directly and immediately turns off drive output and disables the servo loop on any physical servo axis With non CIP motion this places the axis in the Axis Ready state With integrated motion this places the axis in the Stopped state The MSF instruction also disables any motion planners that can be active at the time of execution The MSF instruction requires no parameters simply enter or select the desired axis If the targeted axis does not appear in the list of available axes the axis has not been configured for operation Use the Tag Editor to create and configure a new axis You can use the MSF instruction to turn servo action off when you must move the axis by hand Because the position continues to be tracked even with servo action OFF When the servo loop is turned ON again by the Motion Servo On MSO instruction the axis is again under closed loop control at the new position IMPORTANT When drive faults with a stopping action of Current Decel amp Hold and the fault is clea
262. entify the range distinct values plus a range of values valuea valueb value1 valueN lt statement gt The CASE construct is similar to a switch statement in the C or C programming languages However with the CASE construct the controller executes only the statements that are associated with the first matching selector value Execution always breaks after the statements of that selector and goes to the END_CASE statement Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RM002E EN P July 2015 Table 182 CASE OF Structured Text Example If You Want This If recipe number 1 then Example CASE recipe_number OF Enter This Structured Text Structured Text Programming Appendix C Ingredient A outlet 1 open 1 1 Ingredient_A Outlet_1 1 Ingredient B outlet 4 open 1 Ingredient_B Outlet_4 1 If recipe number 2 or 3 then 2 3 Ingredient_A Outlet_4 1 Ingredient A outlet 4 open 1 Ingredient_B Outlet_2 1 Ingredient B outlet 2 open 1 If recipe number 4 5 6 or 7 then 4 7 Ingredient_A Outlet_4 1 Ingredient A outlet 4 open 1 Ingredient_B Outlet_2 1 Ingredient B outlet 2 open 1 If recipe number 8 11 12 or 13 then 8 11 13 Ingredient_A Outlet_1 1 Ingredient A outlet 1 open 1 Ingredient B outlet 4
263. er 2 MATC Execution Conditions Condition Ladder Diagram Action Structured Text Action Prescan The EN DN ER IP and PC bits are cleared No action taken The rung condition out is set to false Rung condition in is false The EN bit is cleared if either the DN or ER bit is set Otherwise the N A EN bit is not affected The DN ER IP and PC bits are not affected The rung condition out is set to false Rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes Instruction execution See the following figure Postscan The rung condition out is set to false No action taken Rockwell Automation Publication MOTION RMOO2E EN P July 2015 189 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV EN bit 0 Examine EN bit EN bit is set Instruction detects an error EN bit remains set DN bit remains clear ER bit is set IP bit remains clear PC bit remains clear Rung condition out is true EN bit remains set Rung condition out remains set to true EN bit remains set DN bit is not affected ER bit remains clear LIP bit is set PC bit remains clear Rung condition out is set to true Processing runs to completion in motion task EN bit remains set DN bit is se
264. er Axis After motion on both the Master and Slave Axes has been initiated the Slave follows the Master Axis motion by using the programmed dynamics of the motion instruction Table 130 describes the bit leg definitions for the MDAC instruction Table 130 MDAC MOTION_INSTRUCTION Bit Leg Descriptions Bit Enumerations Description 31 EN Enable The enable bit is set when the rung transitions from false to true and stays set until the rung goes false 29 DN Done The done bit is set when the Master Driven Axis Control instruction is successfully initiated 28 ER Error The error bit is set when there is an invalid combination of parameters in the MDAC instruction 26 IP In Process The in process bit is set when the MDAC instruction is activated and reset by an instruction for example the MASD instruction 23 AC Active The active bit is set when a move MAJ MAM or MATC goes IP in Master Driven mode on the axis that is selected as the Slave Axis of the MDAC instruction The AC bit will be reset when all single axis motion that is being controlled by the MDAC is completed If the Slave Axis is started in Time Driven mode then the AC bit of the MDAC does not go active The IP bit of the MDAC instruction does not change at this time Rockwell Automation Publication MOTION RMOO2E EN P July 2015 299 Chapter 6 300 MDSC Functionality There are no changes in any active motion when a new MDAC instructi
265. er Hookup Test If the Motor Encoder Test is selected the controller computes the proper setting for both the Encoder Polarity and the Drive Polarity based on the Observed Direction instruction parameter and the state of Test Direction Forward bit which was established by the output of the Motion Run Hookup Diagnostics MRHD instruction Once the Encoder Polarity and Drive Polarity settings are computed the MAHD applies these values to the corresponding axis configuration parameter bits as shown in the following table Toate me Axis Parameter Definition Encoder Polarity Negative DINT Inverts the sense of the encoder feedback input to the motion module Drive Polarity Negative DINT Inverts the sense of the DAC analog output from the motion module Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 Encoder Hookup Test If the Encoder Test is selected the controller computes the proper setting for just the Encoder Polarity based on the Observed Direction instruction parameter and the state of Test Direction Forward bit which was established by the output of the Motion Run Hookup Diagnostics MRHD instruction Once the Encoder Polarity and Drive Polarity settings are computed the MAHD applies these values to the corresponding axis configuration parameter bits as shown in the following table Axis Parameter Data Type Units
266. er the start or end point of the current profile Ifthe current cam is configured to execute once the new profile is initiated at the completion of the current cam profile and the PC bit of the currently active instruction either MAPC or MATC is set If the current cam is configured to execute continuously the new profile is initiated at the completion of the current pass through the current cam profile and the IP bit of the currently active instruction is cleared The motion controller keeps track of the master axis position or time depending on which instruction is used and the slave axis position relative to the first profile at the time of the Rockwell Automation Publication MOTION RMOO2E EN P July 2015 409 Appendix E 410 Camming change and uses this information to maintain synchronization between the profiles If the Execution Schedule of an instruction is set to Immediate and a position or time cam profile is currently in process the instruction errs In this case the instruction generates an Illegal Dynamic Change error that is error code 23 in Logix Designer programming software This error even occurs when the axis is waiting to lock onto the master axis Ifan Execution Schedule of Pending is selected without a corresponding position or time cam profile in progress the instruction executes but no camming motion occurs until another instruction with a non pending Execution Schedule is initiated This allows pe
267. eration Unit parameters for motion instructions Table 142 Acceleration and Deceleration Unit Parameter Descriptions Mode Enumerations Compatibility Time 0 Units per sec Existing Enumeration 1 Maximum Existing Enumeration 2 Reserved 3 Seconds New Enumeration Time based programming MDSC 4 Units per MasterUnit New Enumeration 5 Reserved 6 Reserved 7 Master Units New Enumeration Analogous to seconds in time based programming The following table shows acceptable combinations of Speed Acceleration and Deceleration units Table 143 Combinations of Speed Acceleration and Deceleration Units Speed Units Acceleration and Deceleration Units Units per sec Maximum Seconds Units per MasterUnit2 Master Units Master Time Driven Mode Time Driven Mode Time Driven Mode Master Driven Mode Driven Mode Units Units Units Units Units Units per sec Existing Enumeration Existing Enumeration Not Implemented Not allowed Time and Master Driven Units can Time Driven Mode Units not be combined Maximum Existing Enumeration Existing Enumeration Not Implemented Time Driven Mode Units Seconds Not Implemented Not Implemented New Enumeration Time Driven Mode Units Units per MasterUnits Not allowed Time and Master Driven Units can not be combined New Enumeration Not Implemented Master Driven Mode Units Master Units Not Implemented New Enumeration
268. error 95 DSC Lock Direction Conflict If both the master and slave axes are idle for example paused the MAM or MAJ can make a change on the slave However the error MDSC IDLE_MASTER_AND_SLAVE_MOVING is generated if MDSC mode is started while the slave is moving when the master is idle Different Time Driven and Master Driven modes can be used for different motion types for superimposed motion For example the MAM can be in Time Drive mode and the MAJ can be in Master Driven mode for the same Slave Axis Rockwell Automation Publication MOTION RMOO2E EN P July 2015 305 Chapter6 MDSC Functionality Ch anging the Master Axis The following sequence of events must be followed to transfer a Slave Axis from one Master Axis to a second Master Axis e First you must execute an MDAC instruction to reassign the Slave Axis from the first Master Axis to the second Master Axis This makes the reassignment pending The IP bit of the pending MDAC instruction is set as an indication of the pending reassignment e Second you must execute a new motion command for example an MAM or MAJ The axis becomes unlocked from the first Master Axis and reassigned to the second Master Axis when this new motion instruction is executed goes IP EXAMPLE The MDAC mode becomes enabled once the MDAC instruction is executed The MDAC mode becomes active after being enabled and a motion instruction with the MDAC speed unit selection is executed If ther
269. error message to let it know that the length input parameter does not correspond to what the instruction expects the corresponding Extended Error code provides the number of cams in the Cam Tag provided to the instruction When the MCCP instruction receives an Illegal Cam Profile Length 27 error message to let it know that the length input parameter does not correspond to what the instruction expects the corresponding Extended Error code provides the number of cam points the instruction is attempting to generate MCCP Changes to Status Bits The MCCP instruction makes no changes to the status bits 154 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 MCCP Example Relay Ladder When the input instructions are true the controller changes the speed acceleration or deceleration rate of a move profile or jog profile in progress for axis_l MCC Motion Calculate Cam Profile ho Motion Control MCCP_1 Cam Cam_1 0 L D Length 30 Start Slope 1 0 End Slope 1 0 Cam Profile cam_prol 1 La Structured Text MCCP MCCP_1 Cam_1 0 30 1 0 1 0 cam_pro1 1 Rockwell Automation Publication MOTION RM002E EN P July 2015 155 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Motion Axis Position Cam MAPC 156 The Motion Axis Position Cam MAPC instruction provides el
270. ers determine the initial rate of change of the slave relative to the master These values are used in the cubic spline calculations performed on the cam array Figure 5 shows the master slave slope relationship Figure 5 Start and End Slope Cam Profile Slave Axis Position Master Axis Position Start Slope End Slope The default values for Start Slope and End Slope are 0 to facilitate a smooth start and end to the cam profile from rest However if the axis is already camming an appropriate non zero Start Slope can be specified to match the End Slope of the currently executing cam to seamlessly blend the two cam profiles together The Start Slope and End Slope values are not applicable when starting or ending the cam profile with linear interpolation Specifying and Calculating the Cam Profile To execute an MCCP instruction a Cam Profile array tag must also be created Cam Profile array tags can be created by the Logix Designer tag editor or the MAPC MATC instructions by using the built in Cam Profile Editor The data within the Cam Profile array can be modified at compile time by using the Cam Profile Editor or at run time with the MCCP instruction In the case of run time changes a Cam array must be created in order to use the MCCP instruction 152 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 The s
271. erse the MCD instruction s Speed operand value needs to be a negative value for example 10 of max Supporting the Motion Drive Start MDS Instruction The MCD instruction supports the Motion Drive Start MDS instruction However the MCD instruction has no affect on the DirectVelocityControlStatus Command feature because the Motion Planner takes only the value from the Direct Command Velocity Attribute and sums it into the axis output before sending the total command to the drive After all acceleration and deceleration have been planned the MCD instruction has no affect on the feature 138 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions MCD Execution Conditions Condition Ladder Diagram Action Structured Text Action prescan The EN DN and ER bits are cleared No action taken The rung condition out is set to false rung condition in is false The EN bit is cleared if either the DN or ER bit is set N A Otherwise the EN bit is not affected The DN and ER bits are not affected The rung condition out is set to false rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction
272. es Latch the current command and actual position of all Motion Group Strobe Position MGSP Yes axes Arm and disarm special event checking Arm the watch position event checking for an axis Motion Arm Watch MAW Yes functions such as registration and watch position Disarm the watch position event checking for an axis Motion Disarm Watch MDW Yes Arm the servo module registration event checking foran Motion Arm Registration MAR Yes axis Disarm the servo module registration event checking for Motion Disarm Registration MDR Yes an axis Arm an output cam for an axis and output Motion Arm Output Cam MAOC No Disarm one or all output cams connected to an axis Motion Disarm Output Cam MDOC No Rockwell Automation Publication MOTION RM002E EN P July 2015 31 Preface Table 2 Choosing a Motion Direct Command Continued If You Want To And Use This Instruction Motion Direct Command Tune an axis and run diagnostic tests for Use the results of an MAAT instruction to calculate and Motion Apply Axis Tuning MAAT No your control system These tests include update the servo gains and dynamic limits of an axis Mot der hookup test ad a R Run a tuning motion profile for an axis Motion Run Axis Tuning MRAT No Marker test Use the results of an MRHD instruction to set encoder and Motion Apply Hookup Diagnostics MAHD No servo polarities Run one of the dia
273. es as output depend on the specified Hookup Diagnostic Rockwell Automation Publication MOTION RM002E EN P July 2015 Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 Motor Encoder Hookup Test If the Motor Encoder Test is selected the motion module enables the external drive and generates a 1 Volt per second output ramp to the drive while monitoring the encoder feedback When the axis has moved a distance greater than or equal to the configured Motor Encoder Test Increment the test voltage is set back to zero and the drive disabled The motion module then reports the direction of travel which is stored as one of the following output parameters CC Axis Parameter Definition Test Status Integer Status Report of the Hookup Diagnostic Test Process Test Direction Forward DINT Direction of axis travel during hookup test as seen by the motion module If due to improper hookup or some other problem with the system the axis feedback fails to detect that axis reaching the configured Motor Encoder Test Increment within 2 seconds the servo sets the test voltage back to zero and disables the drive The control reflects this condition through the Test Status axis output parameter This usually indicates that either the cabling to the drive or the cabling to the encoder is incorrect Running MRHD with the Encoder Hookup Test selected is an effective method of isolating the problem to the encoder or driv
274. es ct cue Ci ia aie eet E ol M a el 237 MDR Changes to Status Bits3y coccdsisodaycdoecbeevewsaaweaes 238 MDR Examples reshen aude bi S onan aag aed A RTR 238 Motion Arm Output Cam MAOC 0c eee eee eee e eee eee 239 Operands anoen eee lta E EAEE et Bettis ecard 239 Description isori mentur iren Aaa O anes ase 242 Specifying the Output Cam s ssssrererrrrereresrererrere 245 Specifying Output Comipenisationc s lt cise ie tien oe tees rrer 248 Arithmetic Status Flags scious ses eoeed eee oreeevas eae 251 Fault Conditions e och bet card east sevice sep a nan re Remar ina 251 MAOC Execution Conditions 00c cece cece eee eees 252 Bert Ges maena ai baat ouie E a sh ehaeuyeu hed 252 MAOC Changes to Status Bits si sintvhaseasiaude nd sae 254 Module Fault Conditions Disarm Output Cams 254 Axis and Module Fault Conditions Disarm Output Cams 254 MAOC Examples ds visioner i tana teen eet 255 Motion Disarm Output Cam MDOC 0s eee eee eee 256 Operands eeraa n tected pee ee E 256 Description iseis Enee n EEE EEEE E EEEE S 257 Arithmetic Status Flags ad oS rata sie nioale enlg dds Soe pene aS 257 Fault CONG iblo Ns sonod nscodtatancan atestnte pO cowteacote aman dane 257 MDOC Execution Conditions cccccceceeeeeecece 258 MDO O Error G odes ua tancd A T eee a a 258 MDOG Changes to Status Bits ysasneeloureneewhsensa4 259 MDOC Example snper nae a a aie die kane ok ok 260 Chapter 5
275. es the velocities and accelerations of the profile 402 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Cam Execution Modes Execution Schedule Camming Appendix E To maintain the velocities and accelerations of the scaled profile approximately equal to those of the unscaled profile the Time Scaling and Distance Scaling values should be equal For example if the Distance Scaling value of a profile is 2 the Time Scaling value should also be 2 to maintain approximately equal velocities and accelerations during execution of the scaled time cam IMPORTANT Decreasing the Time Scaling value or increasing the Distance Scaling of a time cam increases the required velocities and accelerations of the profile This can cause a motion fault if the capabilities of the drive system are exceeded Cam execution modes determine if the cam profile is executed only one time or repeatedly You must configure the Execution Mode parameter on an MAPC or MATC instruction Table 189 Execution Mode Descriptions Execution Mode Description Once Cam motion of slave axis starts only when the master axis moves into the range defined by the start and end points of the cam profile When the master axis moves beyond the defined range cam motion on the slave axis stops and the Process Complete bit is set Slave motion does not resume if the master axis moves back into the cam profile range Continuous Once started the cam profile is execu
276. es to create complex motion and synchronization Executing the Instruction IMPORTANT The MAPC instruction execution completes in a single scan thus the Done DN bit and the In Process IP bit are set immediately The In Process IP bit remains set until the initiated PCAM process completes is superseded by another MAPC instruction terminated by a Motion Axis Stop command Merge operation or Servo Fault Action The Process Complete bit is cleared immediately when the MAPC executes and sets when the cam process completes when configured for Once Execution mode This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it executes only on a transition For more information see Structured Text Programming on page 359 Specifying the Cam Profile To execute a MAPC instruction a calculated Cam Profile data array tag must be specified Cam Profile array tags can be created by the Logix Designer tag editor or the MAPC instruction by using the built in Cam Profile Editor or by executing an Motion Calculate Cam Profile MCCP instruction on an existing Cam array The data within the Cam Profile array can be modified at compile time by using the Cam Profile Editor or at run time with the Motion Calculate Cam Profile MCCP instruction In the case of run time changes a Cam array must be cr
277. escription EN Enable Bit 31 It is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 It is set when the axis registration event checking has been successfully armed ER Error Bit 28 It is set to indicate that the instruction detected an error such as if you specified an unconfigured axis IP In Process Bit 26 It is set on positive rung transition and cleared after the registration event has PC Process Complete Bit 27 occurred or has been superseded by another Motion Arm Reg command or terminated by a Motion Disarm Reg command It is set when a registration event occurs Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 Description The MAR instruction sets up a registration event to store the actual positions of the specified physical axis on the specified edge of the selected dedicated high speed Registration input for that axis When an MAR instruction is executed the RegEventStatus bit is set to 0 FALSE and the selected Registration input for the specified axis is monitored by the motion module until a Registration input transition of the selected type the registration event occurs When the registration event occurs the RegEventStatus bit for the axis is set to 1 TRUE and the Actual Position of the axis is stored in th
278. escriptions Operand Type Format Description Motion Control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Cam Profile CAM_PROFILE Array Tag An array of elements with the array index set to 0 It defines the cam profile used in calculating the slave values Master Value SINT INT DINT or REAL Immediate The exact value along the master axis of the Tag cam profile that is used in calculating the slave values Slave Value REAL Tag The value along the slave axis of the cam profile with the master at the specified master value Slope Value REAL Tag The first derivative of the value along the slave axis of the cam profile with the master at the specified master value Slope Derivative REAL Tag The second derivative of the value along the slave axis of the cam profile with the master at the specified master value 192 Rockwell Automation Publication MOTION RM002E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Structured Text MCSV MotionControl CamProfile MasterValue SlaveValue SlopeValue SlopeDerivative The operands are the same as those for the relay ladder MCSV instruction MCSV MOTION_Instruction Structure The following control bits are affected by the MCSV instruction Table 70 MCSV Bit Descriptions Enumerations Description EN Enable Bit 31 The Enable Bit sets when the rung transitions fr
279. ess values that are simply used as multipliers to the cam profile Figure 7 Cam Profile Array Profile Scaled with Master and Slave Scaling uk Scaled with Master Scaling Profile Scaled with Slave Scaling Master Axis Position Profile Stored in Cam Profile Array By default both the Master Scaling and Slave Scaling parameters are set to 1 To scale a position cam profile enter a Master Scaling or Slave Scaling value other than 1 Note that increasing the master scaling value of a cam profile decreases the velocities and accelerations of the profile while increasing the slave scaling value increases the velocities and accelerations of the profile To maintain the velocities and accelerations of the scaled profile approximately equal to those of the unscaled profile the master scaling and slave scaling values should be equal For example if the slave scaling value of a profile is 2 the master scaling value should also be 2 to maintain approximately equal velocities and accelerations during execution of the scaled position cam Slave Scaling value of a position cam increases the required velocities and accelerations of the profile This can cause a motion fault if the capabilities of the drive system are exceeded i ATTENTION Decreasing the Master Scaling value or increasing the MAPC Execution Schedule Control over the MAPC instruction s execution is via the Execution Schedule parameter Immediate Execution By de
280. et Latch Delay and Unlatch Delay as well as internal compensation values applied based on the Reference and Output parameters of the MAOC instruction No side affects occur if the MAOC instruction is configured with an Execution mode of Continuous or Persistent A pending MAOC instruction does not exist when the Output Cam is armed and the axis moves The following side affects can occur of the MAOC instruction is configured with an Execution Mode of Once Only and a pending MAOC exists when the Output Cam is armed and the axis moves e One or more outputs can never change state e The MAOC instruction can complete immediately One possible side affect of a pending MAOC instruction existing when the Output Cam is armed and the axis moves is that one or more outputs could begin executing based on the configuration of the pending MAOC instruction Output Cam range is defined by input parameters CamStartPosition and CamEndPosition The Master Reference selection allows axis input to be derived from either the Actual or Commanded position of the designated axis Rockwell Automation Publication MOTION RMOO2E EN P July 2015 243 Chapter 4 244 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Axis Arm or Cam Arm Position The axis arm position defines the axis position where the Output Cam is armed if the execution schedule is set to either forward only reverse only or bidirectional and the axis moves in the specified direct
281. et these requirements e The controller is at revision 16 or later e One of these instructions produce the motion Motion Axis Move MAM Motion Axis Jog MAJ Motion Axis Stop MAS e The instruction uses an S curve profile Rockwell Automation Publication MOTION RMOO2E EN P July 2015 327 Chapter7 Tune an S curve Profile Procedure IMPORTANT In this procedure you increase the jerk This increases the stress on the equipment and load Make sure you can identify when the equipment or load has reached its jerk limit 1 Are the Jerk Units set to of Time Table 150 Increasing the Jerk If the Jerk Units are of Time Jerk Units of Time Merge Disabled Merge Speed Programmed lt lt Less Then Continue with step 2 of Maximum 1 Change the Jerk Units to of Time e Jerk Units Jerk Units of Maximum Merge Disabled Merge Disabled Merge Speed Programmed Merge Speed Programmed E lt lt Less lt lt Less 2 Continue with step 2 Units per sec3 I Jerk Units Units per sec3 Merge Disabled Merge Speed Programmed aa Less 2 Set the Jerk values to 50 of Time Example 328 Accel Jerk Servo_Axis_Vars C Auto_Accel_Jerk 50 06 Decel Jerk Servo_Axis_Vars C Auto_Decel_Jerk 50 0 Jerk Units of Time Merge Disabled Merge Speed Programmed lt lt Less Rockwell Automation Publication MOTION RMOO2E EN P July 2015
282. etion of the current pass through the current cam profile and the IP bit of the currently active MATC instruction is cleared The motion controller keeps track of time and the axis positions relative to the first profile at the time of the change and uses this information to maintain synchronization between the profiles If the Execution Schedule of an MATC instruction is set to Immediate and a time cam profile is currently in process the MATC instruction generates an Illegal Dynamic Change error If an Execution Schedule of Pending is selected without a corresponding time cam profile in progress the MATC instruction executes but no camming motion occurs until another MATC instruction with a non pending Execution Schedule is initiated This allows pending cam profiles to be preloaded prior to executing the initial cam This method addresses cases where immediate cams would finish before the pending cam could be reliably loaded Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 After a Pending time cam has been configured the Time Cam Pending Status bit of the Motion Status word for the specified axis is set to 1 true When the pending new profile is initiated and becomes the current profile Time Cam Pending Status bit is immediately cleared as shown in the following figure Current l New Profile l Profile Axis Position
283. ex Table of Contents Cam Execution Modes 0 cece cece cece cece enc eeeeeenaes 403 Execution Schedule 0 0c cece cece cece cece eee eeenaeenas 403 MAPE Tnstiuctionten sessed cece beh eck a ia oa ea wees 403 MAT C Instruction 0 cece cece ccc e eee e eee eeeeeaes 407 Pending Gamsi rre ereo ce aly desea nonsense wenesd E E Stamnes 408 Appendix F MOTION RM002D EN P 2 oe ee eee eee eee cence 413 MOTION RMO002C EN P o oo rii eee eee eee eee OA 413 Rockwell Automation Publication MOTION RMO02E EN P July 2015 21 Table of Contents Notes 22 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Task Preface This manual is one of several Logix5000 based instruction manuals Resource Configure Control Modes Control Methods and AXIS_CIP_DRIVE Attributes Integrated Motion on the Ethernet IP Network Reference Manual publication MOTION RM003 Configure and startup an integrated motion application Integrated Motion on the Ethernet IP Network Configuration and Startup User Manual publication MOTION UM003 Program the controller for motion applications This manual the Logix5000 Controllers Motion Instructions Reference Manual publication MOTION RM002 Import a text file or tags into a project Logix5000 Controllers Import Export Reference Manual publication 1756 RM084 Export a project or tags to a text file Configure your controller for motion axes and
284. executes instruction execution See the following figure postscan The rung condition out is set to false No action taken EN bit 0 EN bit is set Examine EN bit Instruction detects an error Rung condition out is set to true EN bit remains set Rung condition out remains set to true motion task Processing runs to Function complete EN bit remains set DN bit remains clear ER bit remains clear Rung condition out is not affected EN bit remains set DN bit remains clear ER bit is set Rung condition out remains true completion in EN bit remains set DN bit is set ER bit remains clear Rung condition out is not affected Rockwell Automation Publication MOTION RMOO2E EN P July 2015 139 Chapter 2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV MCD Error Codes See Error Codes ERR for Motion Instructions on page 345 MCD Extended Error Codes Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions Use Extended Error Codes EXERR for more information about an error Table 52 MCD Extended Error Codes Description If ERR is And EXERRis Then Cause Corrective Action 13 Varies An operand is outside its range The EXERR is the
285. expression2 THEN EXIT lt q If there are conditions when you want to exit the loop early use other statements such as an IF THEN END_IF construct to condition an EXIT statement UNTIL bool_expression 1 END_REPEAT 384 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Structured Text Programming Appendix C These diagrams show how a REPEAT UNTIL loop executes and how an EXIT statement leaves the loop early statement 1 ad statement 1 statement 2 statement 2 statement 3 statement 3 statement 4 statement 4 Eye yes BOOL expression trug Ext false 1 no BOOL expression wue rest of the routine Kas false rest of the routine While the bool _expression is false the controller executes only the To stop the loop before the conditions are false use an EXIT statements within the REPEAT UNTIL loop statement Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions A major fault will occur if the construct loops are too long The fault type is 6 and the fault code is 1 Example 1 If you want this Enter this structured text The REPEAT UNTIL loop executes the statements in the construct and then determines if the pos 1 conditions are true before executing the statements again This differs from the WHILE DO loop because the WHILE DO The WHILE DO loop evaluates its REPEAT conditions first If the conditions are true the controller then executes the statements within pos
286. fault the MAPC instruction is scheduled to execute Immediately In this case there is no delay to the enabling of the position camming process and the Master Lock Position parameter is irrelevant The slave axis is immediately locked to the master axis beginning at the Cam Lock Position of the specific cam profile Rockwell Automation Publication MOTION RM002E EN P July 2015 163 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV As illustrated in Figure 8 when the MAPC instruction is executed the camming process is initiated on the specified slave axis and the Position Cam Status bit in the slave axis Motion Status word is set If the Execution Schedule parameter is set to Immediate the slave axis is immediately locked to the master according to the specified Cam Profile This is indicated by the fact that the Position Cam Lock Status bit for the specified slave axis is also set Figure 8 Immediate Execution l Cam Cam Profile Slave Axis Start Position Postion Master Axis Position 1 0 Position Cam Lock Status 1 m Position Cam Status Postion Cam Initiated If the Execution Schedule of an MAPC instruction is set to Immediate and a position cam profile is currently in process the MAPC instruction errs This is true even when the axis is waiting to lock onto the master axis 164 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motio
287. fied deceleration rate if the new speed is lower than the current speed Changing Axis Direction You can execute an MCD instruction during another instruction s execution to change an axis speed and the direction in which that axis moves There are two MCD instruction operands that affect the speed and directional movement of an axis e Change Speed Must be set to 1 so that MCD instruction changes the speed of the axis If this value is 0 no change of speed occurs e Speed The new Speed to move the axis in or Speed Units A positive value in the Speed operand causes a positive directional move on the axis A negative value in the Speed operand causes a negative directional move on the axis EXAMPLE __ If your program is executing a Motion Axis Jog MAJ instruction with its Direction operand set to 1 the axis moves in reverse If you were then required to reduce that jogged move s speed you would execute an MCD instruction while the MAJ instruction was in process The MCD instruction s Change Speed operand must be 1 Then depending on the MCD instruction s Speed operand value the effect on the axis directional movement varies Setting the Speed operand to a new positive value for example 10 of max would result in the axis changing directions because the Speed operand is positive dynamically over riding the MAJ instruction s reverse movement To maintain the same direction in this example that is rev
288. file From this point on only the incremental change in the master axis position is used to determine the corresponding slave axis position from the defined cam profile This is important for applications where the master axis is a rotary axis because the position cam is then unaffected by the position unwind process When the master axis moves out of the range defined by the cam profile assuming Execution mode configured for Once both the Position Cam Lock Status and the Position Cam Status bits of the Motion Status word are cleared This Motion Status bit condition indicates that the cam process has completed 166 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 This fact is also reflected in the bit leg behavior of the associated MAPC instruction PC bit set and IP bit clear After position cam motion is started when the master axis passes the specified Master Lock Position in either the Forward Only or Reverse Only direction the master axis can change direction and the slave axis reverses accordingly Ifan MAPC instruction is executed on a slave axis that is already actively position camming an Illegal Dynamic Change error is generated error code 23 The only exception for this is if the Execution Schedule is specified as pending Pending Cam Execution The transition from one cam profile to another occurs when the o
289. file determines a slave axis acceleration to a particular position This graphic illustrates a sample acceleration cam profile in the Logix Designer programming software cam editor Rockwell Automation Publication MOTION RMO02E EN P July 2015 397 AppendixE Camming Figure 46 Acceleration Cam Profile W Cam Editor AccelerationCamProfile 00 Cubic 5 0 Cubic 10 0 Linear Master lt w Start Slope _ 0 0 End Slope 1 0 Master Position Velocity Acceleration OK Gancal 34 1667 16 93333 fo joo Apply Help Run Cam Profile A run cam profile determines a slave axis movement that begins when the master axis reaches a specific position and remains steady until the end of the cam profile This graphic illustrates a sample run cam profile in the Logix Designer programming software cam editor Figure 47 Run Cam Profile Cam Editor RunCamProfile1 Slave Position o joo 0 0 Linear 1 2000 3600 Linear Master a Ban Spe J00 g gt 0 0 Master Position Velocity Acceleration Jerk Cx C Cancel i425 J238 333 joo joo joo 398 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Deceleration Cam Profile Appendix E A deceleration cam profile determines a slave axis deceleration from a particular position This graphic illustrates a sample deceleration cam profile in the Logix Designer programming software cam editor Figure 48 Deceleration Cam Prof
290. form of the motion with the scaling used to define the time or distance over which the profile is executed as shown in the following figure _ Profile Scaled with ecas Slave Axis Distance Scaling Profile Scaled in Time Position and Distance Scaling Profile Scaled with Time Scaling Master Time Profile Stored in Cam Profile Array When a cam profile array is specified by an MATC instruction the master coordinate values defined by the cam profile array take on the time units seconds and the slave values take on the units of the slave axis By contrast the Time and Distance Scaling parameters are unitless values that are simply used as multipliers to the cam profile Rockwell Automation Publication MOTION RMOO2E EN P July 2015 183 Chapter 2 184 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV By default both the Time and Distance Scaling parameters are set to 1 To scale a time cam profile enter a Time Scaling or Distance Scaling value other than 1 Increasing the Time Scaling value of a cam profile decreases the velocities and accelerations of the profile while increasing the Distance Scaling value increases the velocities and accelerations of the profile To maintain the velocities and accelerations of the scaled profile approximately equal to those of the unscaled profile the Time Scaling and Distance Scaling values should be equal For example if the Distance Sca
291. ft and right cam positions of the Output Cam element The compensated cam range is defined by the cam range offset and latch and unlatch offsets The latch and unlatch offsets are defined by the current speed v Latch Offset v Latch Delay Unlatch Offset v Unlatch Delay The resulting compensation offset can actually be larger than the difference between cam start and cam end position The following equation illustrates the effect of the compensation values on the duration ofan Output Cam element Compensated Duration Duration Latch Delay Unlatch Delay Rockwell Automation Publication MOTION RM002E EN P July 2015 249 Chapter4 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Mode Compensation Depending on the selected mode the compensated output bit is set according to this table Table 101 Compensated Output Bit Behavior Mode Normal Behavior The output bit is set when the output of the latch and unlatch operation becomes active The output bit is reset when the output of the latch and unlatch operation becomes inactive Inverted The output bit is set when the output of the latch and unlatch operation becomes inactive The output bit is reset when the output of the latch and unlatch operation becomes active Pulsed Inverted and Pulsed The output bit is pulsed when the output of the latch and unlatch operation is active The on duty state of the pulse corresponds to
292. g Time Cam If the Execution Schedule is set to Pending execution of the MATC instruction does not affect the current state of the Time Cam Status bits Time Cam Pending Status bit is set to True immediately and transitions to False when the pending cam becomes the active cam Bit Name State Meaning TimeCamStatus N A Time Camming is Enabled TimeCamPendingStatus TRUE Pending Time Cam MATC Example Relay Ladder MATC Motion Axis Time Cam Axis AxisO E Motion Control MATC_1 Direction 1 Cam Profile Cam_pro3 2 Distance Scaling 35 rer Time Scaling 2 Execution Mode Continuous Execution Schedule Pending lt lt Less Structured Text MATC Axis0 MATC_1 1 Cam_pro3 2 35 2 Continuous Pending Rockwell Automation Publication MOTION RM002E EN P July 2015 191 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Motion Calculate Slave Use the Motion Calculate Slave Values MCSV instruction to calculate the slave Values MCSV value the slope value and the derivative of the slope for a given cam profile and master value Operands The MCSV instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MCSV Motion Calculate Slave Values Motion Control Cam Profile Master Value Slave Value VVVVV N A N Slope Value Slope Derivative 1 Table 69 MCSV Relay Ladder Operand D
293. gear ratio changes on the fly even changes in direction The motion controller automatically ramps the slave axis to the speed implied by the master axis at the new ratio and or direction The operation of the clutch ramp generator has no affect on jog or move processes that might be in progress on the slave axis Changing Master Axis The master axis for electronic gearing can be changed at any time even while gearing is currently enabled However because its possible to have electronic gearing enabled on more than one axis at a time if a Servo master axis and slave axis are reversed the axes become cross coupled and unexpected motion can result For example if you are gearing Axis 0 to Axis 1 defined as a Servo axis and then want to change to gearing Axis 1 to Axis 0 you must first disable gearing StopType Gear on Axis 0 This is because specifying Axis 1 as the slave axis with Axis 0 as the master axis does not automatically disable Axis 0 from being a slave axis with Axis 1 as the master axis See Motion Axis Stop MAS on page 82 for more information Moving While Gearing An incremental MAM instruction can be used for the slave axis or master axis if the Axis Type is configured as Servo while the electronic gearing is enabled This is particularly useful to accomplish phase advance retard control The incremental move distance can be used to eliminate any phase error between the master and the slave or to create an ex
294. gnostic tests on an axis Motion Run Hookup Diagnostics MRHD No Control multi axis coordinated motion Start a linear coordinated move for the axes of coordinate Motion Coordinated Linear Move MCLM No system Start a circular move for the for the axes of coordinate Motion Coordinated Circular Move MCCM No system Change in path dynamics for the active motion on a Motion Coordinated Change Dynamics MCCD No coordinate system Stop the axes of a coordinate system or cancel a Motion Coordinated Stop MCS No transform Shutdown the axes of a coordinate system Motion Coordinated Shutdown MCSD No Start a transform that links two coordinate systems Motion Coordinated Transform MCT No together This is like bidirectional gearing Calculate the position of one coordinate system with Motion Calculate Transform Position MCTP No respect to another coordinate system Transition the axes of a coordinate system to the ready Motion Coordinated Shutdown Reset MCSR No state and clear the axis faults 1 For more information on these Motion Coordinated Instructions see Motion Coordinate System User Manual publication MOTION UM002 32 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Additional Resources Preface These documents contain additional information concerning related products from Rockwell Automation Table 3 Additional Resources Resource 1768 CompactLogix Controllers User Manual publication
295. h a Master Lock Position at 8 0 The Event Distance is set to 0 0 which means that we want the total Master Distance X in Table 38 needed for the slave to move 15 0 units starting when the Master is locked at a position at 8 0 The incremental value of X is returned in the Calculated Data parameter Figure 38 Master Distance X Master Axis Move Value 8 X lt 6 gt lt X Slave Axis Move Ti Speed Enumerations a WwW Common enumerations are used for the speed parameter of all motion instructions Some instructions accept only a limited subset of the speed enumerations Checks for valid unit combinations are done at instruction execution time Some enumerations that are in the following table are not used now but are reserved for future enhancements Additional tables are given in this chapter that further clarify which combinations are accepted in MDSC mode and which are accepted in Time Driven mode Table 141 Speed Unit Parameter Descriptions Mode Enumerations Compatibility Time Driven 0 Units per sec Existing Enumeration Maximum Existing Enumeration 2 Reserved 3 Seconds Time based programming New Enumeration Rockwell Automation Publication MOTION RMOO2E EN P July 2015 MDSC Functionality Chapter 6 Table 141 Speed Unit Parameter Descriptions Mode Enumerations Compatibility MDSC 4 Units per MasterUnit New Enumeration 5 Reserved 6 Reserved 7
296. h type less than 0 or greater than 5 A value of Inactive is used and the user is warned with an instruction error Illegal Output Cam Aleft or right position that is out of cam range and the latch or unlatch type is set to Position or Position and Enable A duration that is less than or equal to 0 and the unlatch type is set to Duration or Duration and Enable The Output Cam element is not considered and the user is warned with an instruction error Illegal Output Cam The cam start position is used and the user is warned with an instruction error Illegal Output Cam An enable type less than 0 or greater than 3 and the latch or unlatch type is set to Enable Position and Enable or Duration and Enable The cam end position is used and the user is warned with an instruction error Illegal Output Cam An enable bit less than 0 or greater than 31 and the latch or unlatch type is set to Enable Position and Enable or Duration and Enable The Output Cam element is not considered and the user is warned with an instruction error Illegal Output Cam A latch type that is set to Inactive and unlatch type is set to either Duration or Duration and Enable Specifying Output Compensation The Output Cam element is not considered and the user is warned with an instruction error Illegal Output Cam An Output Compensation data array tag can be specified via the Logix Designer tag editor The data type defines the specifics for each
297. hange its acceleration and deceleration When the Motion Axis Jog MAJ instruction starts again the controller recalculates jerk and builds a new S curve profile Ifthe Motion Axis Jog MAJ instruction uses a lower deceleration the jerk is lower It takes longer at the lower jerk to get deceleration to zero Inthe meantime the axis continues past zero speed and moves in the opposite direction The following trends show how the axis stops and starts with a trapezoidal profile and an S curve profile Trapezoidal 100 100 80 80 60 60 speed overshoots 0 20 bee and axis goes in a i i opposite direction acceleration deceleration 40 AO changes The axis speeds back up as soon as you start the jog again The lower The jog instruction reduces the deceleration of the axis It now takes longer deceleration doesn t change the response of the axis to bring the deceleration to zero The speed overshoots zero and the axis moves in the opposite direction Rockwell Automation Publication MOTION RMO02E EN P July 2015 339 Chapter8 Analyzing Axis Motion Table 154 Axis Reverse Direction Corrective Action Revision 15 and earlier 340 Jog_PB sLocal 4 Data 1 0 gt My_Axis_OK AJ Motion Axis Jog Axis My_Axis Motion Control Manual_Jog Direction 0 Speed Manual_Jog_Speed 60 0 P gt Speed Units Units per sec Accel Rate Manual_Jog_Accel
298. he instruction that stops the axis Speed hihi 4 Units per sec Accel Rate Accel Units Manual_Jog_Accel Units per sec2 20 0 Decel Rate Manual_Jog_Decel 20 0 Jog_PB sLocal 4 Data 1 0 My_Axis_OK Ad i Motion Axis Jog Axis My_Axis Motion Control Jog_2 Direction 0 Use the same acceleration as the instruction that Speed Jog_2_Speed starts the axis or use a higher acceleration 00e Speed Units Units per sec Accel Rate Jog_2_Accel 20 0 Accel Units Units per sec2 Decel Rate Jog_2_Decel mne Rockwell Automation Publication MOTION RM002E EN P July 2015 335 Chapter8 Analyzing Axis Motion Delay Ifa Jog Is Stopped and While an axis is jogging at its target speed you stop the axis Before the axis stops Restarted completely you restart the jog The axis continues to slow down before it speeds up Table 153 Delay If a Jog Is Stopped and Restarted Example You execute a Motion Axis Stop MAS instruction to stop a jog While the axis is slowing down you execute a Motion Axis Jog MAJ instruction to start the axis again The axis doesn t respond right away It continues to slow down Eventually it speeds back up to the target speed Look For Jog_PB sLocal 4 Data 1 0 My_Axis_OK AJ Motion Axis Jog EN Axis My_Axis Motion Control Manual_Jog oN Direction 0 ER Speed Manual_Jog_Speed 60 0 P Speed Units Units per sec Accel Rate Manual_
299. he default value for versions when bringing old systems forward earlier than v20 is 0 signifying that there is no Event Distance array If the Event Distance is greater than the move length internally it will be forced to equal the move length Example 1 Event Distance array 11 22 5 23 44 Calculated Data array f 11 22 1 f 23 Where f is the calculated data function Rockwell Automation Publication MOTION RMO02E EN P July 2015 Value Default 0 No calculated Data array or a REAL array tag 313 Chapter 6 Table 140 Output Parameter Description Output Parameter 314 MDSC Functionality Data Type Description The 44 is ignored because it is the fifth element in the Event Distance array a 1 is returned in the third element of the Calculated Data array because the corresponding Event data Array element is negative A status bit CalculatedDataAvailable in the existing motion instruction status word has been defined to indicate that the requested data in the Event Distance has been returned in Calculated Data Only one status bit is used to indicate all Calculated Data is available The Calculated Data is set only once in the instruction queue or planning process It is not updated as the move occurs to reflect distance to go It is updated for a change dynamics however Assume that the master axis is at a position of 2 0 The slave is programmed to an incremental value of 15 0 wit
300. he desired Execution Mode Distance and Time Scaling functionality can be used to scale axis motion based on a standard cam profile without having to create a new cam table and calculate a new cam profile Linear and Cubic Interpolation Time cams are fully interpolated This means that if the current master time value does not correspond exactly with a point in the cam table associated with the cam profile the slave axis position is determined by linear or cubic interpolation between the adjacent points In this way the smoothest possible slave motion is provided Each point in the Cam array that was used to generate the Cam Profile can be configured for linear or cubic interpolation Electronic camming remains active through any subsequent execution of jog or move processes for the slave axis This allows electronic camming motions to be superimposed with jog or move profiles to create complex motion and synchronization Rockwell Automation Publication MOTION RMOO2E EN P July 2015 181 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Executing the Instruction IMPORTANT The MATIC instruction execution completes in a single scan thus the Done DN bit and the In Process IP bit are set immediately The In Process IP bit remains set until the initiated Time Camming process is superseded by another MATC instruction or terminated by a Motion Axis Stop command Merge operation or Ser
301. he following figure Postscan The rung condition out is set to false No action taken EN bit 0 Examine EN bit EN bit is set Instruction EN bit remains set 4 detects an EN bit remains set f ROE error DN bit remains clear Rung condition out ER bit is set remains set to true Rung condition out remains true Rung condition out is set to true Processing runs to completion in motion task EN bit remains set Function DN bit is set complete ER bit remains clear rung condition out is not affected EN bit remains set DN bit remains clear ER bit remains clear Rung condition out is not affected 266 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 Error Codes See Error Codes ERR for Motion Instructions on page 345 MAAT Extended Error Codes Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions The following Extended Error Codes help to pinpoint the problem when the MAAT instruction receives a Servo Message Failure 12 error message Table 109 MAAT Extended Error Codes Meaning Associated Error Code decimal Extended Error Code Meaning decimal SERVO_MESSAGE_FAILURE 12 No Resource 2 Not enough memory resources to complete request sercos SERVO_MESSAGE_FAI
302. her a memory location or a physical output for example Local 0 0 Data If Pending is selected as the Execution Schedule then Output is ignored Input DINT Tag A set of 32 input bits that can be used as enable bits depending on the specified Output Cam It can be either a memory location or a physical input for example Local 0 Data If Pending is selected as the Execution Schedule then Input is ignored Output Cam OUTPUT_CAM Array Tag An array of OUTPUT_CAM elements The elements do not need to be ordered and the array size is determined by the number of cam elements specified The array size is limited by the available memory of the Logix controller For more information see Specifying Output Compensation on page 248 Cam Start and SINT INT DINT or REAL Immediate or The cam start and cam end positions define the left and right boundary of the Output Cam range When the cam Cam End Positions Tag position moves beyond the cam start or cam end position the behavior of the Output Cam is defined by the execution mode and execution schedule Changes to the cam start or cam end position don t take effect until the execution of a current MAOC instruction completes If the latch or unlatch type is set to Position or Position and Enable with the enable bit active the left and right cam positions specify the latch or unlatch position of the output bit Output OUTPUT_COMPENSATION Array Tag Is an array of 1 32 OUTPUT_COMPENSATION elements The a
303. here is a 2nd reversal point as shown MAM on Slave is executed here Slave Position Master Position Master Lock Position MDSC_LOCK_DIR_MASTER_DIR_MISSMATCH is generated if a new instruction with the Lock Direction parameter in the opposite direction of the current master direction is merged or replaces an active motion instruction on the Slave Axis For example if the programmed Lock Direction is Immediate Forward Only and the master axis is moving in reverse direction A new instruction used to merge an active instruction on the Slave Axis must use the Immediate Forward Only or Immediate Reverse Only Lock Direction If the new instruction which is merged uses the Position Forward Only or Position Reverse Only Lock Direction the error MDSC_LOCKDIR_CONFLICT is generated on the new motion instruction Rockwell Automation Publication MOTION RMOO2E EN P July 2015 311 Chapter 6 Input Parameter Event Distance Instruction Mode 312 MDSC Functionality Data Type ARRAY INIT32 Description The position s on a move measured from the end of the move This is an array of input values that specifies the incremental distances along the move on the Slave Each member of the array is measured as follows Distances are measured starting from the end of the move towards the beginning of the move as shown in this figure Figure 37 Event Distance Measured _ MAM1 E
304. hile motion in the wrong direction is inhibited This is especially useful where motion in a certain direction can cause physical damage to the machine or to the product Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Moving While Camming Motion Axis Moves can be performed while camming to provide sophisticated phase and offset control while the slave axis is running Incremental Moves An Incremental Motion Axis Move MAM on page 111 can be used on the slave axis or master axis if configured for Servo operation while the position cam is operating This is particularly useful to accomplish phase advance retard control The incremental move distance can be used to eliminate any phase error between the master and the slave or to create an exact phase relationship Master Offset Moves A MAM instruction can also be used while the position cam is operating to shift the master reference position of the cam on the fly Unlike an incremental move on the slave axis a master offset move on the slave axis shifts the cam profile relative to the master axis as shown in Figure 15 Figure 15 Master Offset Move Profile After Incremental Move of Slave Axis Profile After Master Offset Move of Slave Slave Axis S Axis Position Master Axis PoSition Initial Cam Profile When the MAPC instruction except pending is i
305. his action the command also clears all motion instruction IP bits that are currently set for the targeted axis The MASD instruction forces the targeted axis into the Shutdown state One of the unique characteristics of the Shutdown state is that when available the OK solid state relay contact for the motion module or drive is Open This feature can be used to open up the E Stop string that controls main power to the drive system Note that there is typically only one OK contact per motion module which means that execution of an MASD instruction for either axis associated with a given module opens the OK contact Another characteristic of the Shutdown state is that any instruction that initiates axis motion is blocked from execution Attempts to do so result in an execution error Only by executing one of the Shutdown Reset instructions can motion be successfully initiated Executing the Instruction To successfully execute an MASD instruction the targeted axis must be configured as either a Servo or Feedback Only axis If not the instruction errs The axis remains in the shutdown state until either a Motion Axis Shutdown Reset MASR instruction or a Motion Group Shutdown Reset MGSR instruction executes IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed R
306. his allows electronic gearing motions to be superimposed with jog or move profiles to create complex motion and synchronization Executing the Instruction This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it executes only ona transition For more information see Structured Text Programming on page 359 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 MAG Programming Guidelines Follow these are guidelines when programming an MAG instruction Slaving to the Actual Position When Actual Position is entered or selected as the Master Reference source the slave axis motion is generated from the actual position of the master axis as shown in the following graphic Electronic Gearing Slave Axis Command Position Master Axis Actual Position Master Slave Gear Ration Actual position is the current position of a physical axis as measured by the axis encoder This is the only valid selection when the master axis Axis Type is configured as Feedback Only Slaving to the Command Position When Command Position is entered or selected as the Master Reference source the slave axis motion is generated from the command position of the master axis as shown in the foll
307. hooting when the MAH instruction receives a Servo Message Failure 12 error message or Illegal Homing Configuration 41 Table 36 MAH Extended Error Codes Descriptions IfErris And EXERR is Then Meaning Po Cause Corrective Action 12 Varies Servo Message Failure EXERR Operand Process Terminated on Request 1 Home execution followed by an instruction to shutdown disable drive or a motion stop instruction or a Processor change requests a cancel of Home No Resource 2 Not enough memory resources to complete request sercos Object Mode Conflict 12 Axis is in shutdown Permission Denied 15 Enable input switch error sercos Device in Wrong State 16 Redefine Position Home and Registration 2 are mutually exclusive sercos device state not correct for action sercos 41 Varies Illegal Homing configuration Home Sequence 4 The Home Sequence is incompatible with the Home mode Home speed cannot be zero 54 1 The coordinate system has a Maximum Click the Properties for the coordinate system axis The Home Return Speed cannot be zero Deceleration of 0 and set a Maximum Deceleration 0 or more An axis in the coordinate system has a If the Extended Error returns a positive number 0 Maximum Deceleration of 0 n it is referring to the offending axis in the coordinate system Click the Coordinate System Properties General Tab and look under the Brackets column of the Axis Grid to de
308. icates when the instruction detects an error such as if the axis is not configured 262 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 Description The MAAT instruction is used to execute a series of computations resulting in values for gain and dynamic configuration parameters on the specified axis As part of the work performed by MAAT these resultant configuration parameters are applied so that the axis is ready for full servo operation This instruction is designed to follow execution of the Motion Run Axis Tuning MRAT which generates axis input configuration values for the MAAT instruction See the Motion Run Axis Tuning MRAT description for more information MAAT requires no explicit input parameters simply enter or select the desired physical axis If the targeted axis does not appear in the list of available axes the axis has not been configured for operation Use the Tag Editor to create and configure a new axis The MAAT instruction uses axis configuration parameters as input and output The input configuration parameters that MRAT uses are shown in the following table Refer to the Motion Axis Object specification for a detailed description of these parameters The axis configuration parameters that MAAT uses as input depends on the External Drive configuration If the External Vel Servo Drive configuration bit parameter is TRUE
309. ication MOTION RMOO2E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 Table 26 MDS Fault Actions Impact Descriptions Continued Fault Action Description Stop Drive The Stop Drive action results in the device both setting the associated bit in the Axis Faults word and bringing the axis to a stop based on the factory set best available stopping method This best stopping method includes both the method of decelerating the motor to a stop and the final state of the axis given the expected level of control still available The level of axis control available depends on the specific exception condition and on the configured control mode The available deceleration methods are defined by the Stopping Mode attribute Standard stopping modes listed in decreasing levels of deceleration control are as follows Ramp Decel e Current Limit Decel e Coast In general the best stopping mode is the most controlled deceleration method still available given the exception condition The final state of the axis in response to the Major Fault exception action can be any one of the following states that are listed in decreasing levels of control functionality Hold Stopped state with Holding Torque Disable Stopped state with Power Structure Disabled Shutdown DC Bus Power Disabled The best final state of the axis is the state with the most control functionality still
310. ified direction In a rotary axis configuration this lock criterion is still valid independent of the turns count IMPORTANT If the position reference of the master axis is redefined for example with a Motion Redefine Position MRP instruction after the MAPC instruction executes but before the lock condition is satisfied the cam profile generator monitors the master axis based on the absolute position reference system in effect prior to the redefine position operation Rockwell Automation Publication MOTION RMO02E EN P July 2015 405 AppendixE Camming Figure 53 Forward Only Reverse Only or Bidirectional Execution Master Slave Axis Start Po sition Position Cam Profile Master Axis Position 1 o Position Cam Lock Status 1 Position Cam Staus 4 Position Cam Status Position Cam Initiated When the absolute position of the master axis passes the specified Master Lock Position in the specified direction the Position Cam Status bit of the Motion Status word for specified slave axis is set Slave axis motion is then initiated according to the specified cam profile starting at the specified Cam Lock Position of the cam profile 406 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Camming Appendix E From this point on only the incremental change in the master axis position determines the corresponding slave axis position from the defined cam profile This is important for applica
311. ile E Cam Editor DecelCamProfile Slave Position Master 371 667 Position 37 5 3 Dwell Cam Profile Cubic Cubic Linear Master lt Start Slope __ 1 0 gt End Slope 0 0 Velocity y Acceleration Jerk Lx Cancel zs Ca Help A dwell cam profile stops all slave axis movement until another cam profile begins operation Typically a dwell cam profile follows a deceleration cam profile This graphic illustrates a sample dwell cam profile in the Logix Designer programming software cam editor Rockwell Automation Publication MOTION RM002E EN P July 2015 399 Appendix E Camming Dwell Cam Profile W Cam Editor DecelCamProfile Ui Mester Seve ive J o joo 0 0 Cubic 1 _ 106 33 100 83 Cubic 2 2000 180 0 Linear Master lt i Start Slope 1 0 gt End Slope 0 0 Master Position Velocity Acceleration Jerk ask Cancel 1371 667 J375 foo foo joo Appl Behavior of Pending Cams If you want to run one profile and then pend another one you need to execute the MAPC instructions in the right order For example if you want to run only one slave cycle start with the Accel_Profile and pend the Decel_Profile immediately that results in 2 x Cycle 1 Cycle Both of these are executed at the same point in time e Set the execution schedule in the MAPC instruction for Acceleration as Immediate e Set the Deceleration to Pending Execution Sched
312. impossible for the drive to properly perform the operation When this is the case the test process is automatically terminated and a test error is reported that is stored in the Hookup Test Status output parameter 0 test process successful 1 test in progress 2 test process aborted 3 test process timed out 4 test process faulted 5 test failed no feedback 1 counts 6 test failed no feedback 2 counts 7 255 reserved Hookup Test Feedback Direction 1 USINT Reports the direction of axis travel during the last hookup test as detected by the drive s feedback 1 device 0 The drive s feedback 1 device detected a positive direction that is increasing counts 1 The drive s feedback 1 device detected a negative direction that is decreasing counts 2 255 reserved The value for Hookup Test Feedback 1 Direction as determined by the hookup test does not depend on the current feedback motor or motion polarity attribute configuration This value combined with the user s definition of forward direction can be used to configure the various polarity attributes for the correct directional sense Rockwell Automation Publication MOTION RMOO2E EN P July 2015 291 Chapter5 Motion Configuration Instructions MAAT MRAT MAHD MRHD Table 124 MRHD Output Parameters Axis Parameter Data Type Units Definition Hookup Test Feedback USINT Reports the direction of axis travel during the last hookup
313. in the following four tables Speed Units Accel Units versus Jerk Units Units per Sec Table 145 Units per Master Units Table 146 Seconds Table 147 Master Units Table 148 Rockwell Automation Publication MOTION RMO02E EN P July 2015 319 Chapter 6 MDSC Functionality The following table shows acceptable combinations of Acceleration Units and Jerk Units when Speed Units are Units per Second Table 145 Acceleration Units and Jerk Units when Speed Units are Units per Second Jerk Units Acceleration and Deceleration Units 2 Units per sec Maximum Seconds Time Driven Mode Time Driven Mode Time Driven Mode Units Units Units Units per MasterUnit2 Master Units Master Master Driven Mode Driven Mode Units Units Units per sec Existing Enumeration Existing Enumeration Not Implemented Time Driven Mode Units of Time Existing Enumeration Existing Enumeration Not Implemented Time Driven Mode Units Seconds Not Implemented Not Implemented Not Implemented Time Driven Mode Units Incompatible combinations of Time and Master Driven mode A runtime error occurs Units per MasterUnits Master Driven Mode Units of Time Master Driven Master Driven Mode Units Master Units Master Driven Mode Units Incompatible combinations of Time and Master Driven mode An error occurs when you verify the routine Incompatible combinations of Time and Master Driven mo
314. inear or cubic interpolation Electronic camming remains active through any subsequent execution of jog or move processes for the slave axis This allows electronic camming motions to be superimposed with jog or move profiles to create complex motion and synchronization Time Cam Profile A time cam profile functions similarly to a cam drum driven by a constant speed motor A time cam profile is also defined by using a table of points However with the time cam profile the table contains the following information e An array of master axis time values e An array of slave axis position values The master axis time values correspond to slave axis position value When the master axis reaches a specific point in time the slave axis moves to a specific position as configured in the cam profile Time cam profiles are used with Motion Axis Time Cam MATC instructions Upon execution of this instruction the slave axis is synchronized with the master axis See Motion Axis Time Cam MATC on page 178 for more information on how to configure the position cam profile in an MATC instruction Linear and Cubic Interpolation Time cams are fully interpolated This means that if the current master time value does not correspond exactly with a point in the cam table associated with the cam profile the slave axis position is determined by linear or cubic interpolation between the adjacent points In this way the smoothest possible slave motion i
315. instruction Active Homing When the Axis Homing mode is configured as Active the physical axis is first activated for servo operation As part of this process all other motion in process is cancelled and appropriate status bits are cleared The axis is then homed by using the configured Home Sequence which can be Immediate Switch Marker or Switch Marker The latter three Home Sequences result in the axis being jogged in the configured Home Direction and then after the position is redefined based on detection of the home event the axis is automatically moved to the configured Home Position Passive Homing When the Axis Homing mode is configured as Passive the MAH instruction redefines the actual position of a physical axis on the next occurrence of the encoder marker Passive homing is most commonly used to calibrate Feedback Only axes to their markers switches or switch markers but can also be used on Servo axes Passive homing is identical to active homing to an encoder marker except that the motion controller does not command any axis motion After initiating passive homing the axis must be moved past the encoder marker for the homing sequence to complete properly For closed loop Servo axes this can be accomplished with a MAM or MAJ instruction For physical Feedback Only axes motion cannot be commanded directly by the motion controller and must be accomplished via other means Absolute Homing If the motion axis hardware s
316. ion The cam arm position defines the cam position that is associated with the axis arm position when the Output Cam is armed Changes to the axis arm or cam arm position only take effect after the execution of an MAOC instruction Figure 24 Axis Arm or Cam Arm Position Axis Arm Position Px Axis Position Cam Position Cam Arm Position Cam Start Position Cam End Position Reference Depending on the selected reference the Output Cam is connected to either the actual or command position of the axis IMPORTANT Output cams increase the potential for exceeding coarse update rate This can cause misbehavior if the motion task execution time exceeds the configured group coarse update period The only way to check on this condition is to monitor the max execution time from the Motion Group Properties dialog box Executing the Instruction IMPORTANT The MAOC instruction execution completes in a single scan thus the Done DN bit and the In Process IP bit are set immediately The In Process IP bit remains set until the cam position moves beyond the cam start or cam end position in Once execution mode is superseded by another MAOC instruction or is disarmed by the MDOC instruction The Process Complete bit is cleared immediately when the MAOC executes and set when the cam position moves beyond the cam start or cam end position in Once execution mode This is a transitional instruction e In relay ladder toggle the rung c
317. ion same or opposite This is useful when the current direction is not known or not important 3 slave axis to continue its current or previous direction When Reverse is selected or entered as the Direction the current direction of the electronic gearing is changed from same to opposite or from opposite to same This is very useful for winding applications where the gear ratio must be reversed at each end of the wind Ratio REAL Immediate Tag Signed Real value establishing the gear ratio in Slave User Units per Master User Unit Slave counts DINT or SINT Immediate Tag Integer value representing slave counts used in specifying a Fractional gear ratio Master counts DINT or SINT Immediate Tag Integer value representing master counts used in specifying a Fractional gear ratio Master reference DINT Immediate Sets the master position reference to either Command position or Actual position 0 Actual slave axis motion is generated from the current position of the master axis as measured by its encoder or other feedback device 1 Command slave axis motion is generated from the desired or commanded position of the master axis Ratio format DINT Immediate The desired ratio specification format 0 real gear ratio 1 integer fraction of slave encoder counts to master encoder counts Clutch DINT Immediate When Clutch is enabled motion control ramps the slave axis
318. ion process on an axis Motion Axis Stop MAS 82 Relay ladder Home an axis Motion Axis Home MAH 92 SCS Jog an axis Motion Axis Jog MAJ 99 Move an axis to a specific position Motion Axis Move MAM 111 Start electronic gearing between two axes Motion Axis Gear MAG 123 Change the speed acceleration or deceleration Motion Change Dynamics MCD 133 of a move or a jog that is in progress Change the command or actual position of an Motion Redefine Position MRP 142 axis Calculate a Cam Profile based on an array of cam Motion Calculate Cam Profile MCCP 150 points Start electronic camming between two axes Motion Axis Position Cam MAPC 156 Start electronic camming as a function of time Motion Axis Time Cam MATC 178 Calculate the slave value slope and derivative Motion Calculate Slave Values MCSV 192 of the slope for a cam profile and master value Rockwell Automation Publication MOTION RMO02E EN P July 2015 81 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Motion Axis Stop MAS Use the Motion Axis Stop MAS instruction to stop a specific motion process on an axis or to stop the axis completely Operands The MAS instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder AS 4 Motion Axis Stop Axis Motion Control Stop Type Change Decel Decel Rate Decel Units Change Decel Jerk
319. ional instruction specific information for the Error Codes that are generic to many instructions The following Extended Error Codes help to pinpoint the problem when the MDO instruction receives a Servo Message Failure 12 error message Table 20 MDO Extended Error Codes Extended Error Code Associated Error Code decimal Meaning decimal Object Mode conflict 12 SERVO_MESSAGE_FAILURE 12 Axis is in shutdown MDO Changes to Status Bits Bit Name Meaning Axis is in Drive Control state with the Drive Enable output active DriveEnableStatus MDO Example When the input conditions are true the controller activates the servo drive for axis1 and sets the servo output voltage of axis1 In this example the output is 2 of the output value Relay Ladder MDO Motion Direct Drive On Axis Axis E Motion Control MDO_3 Drive Output 50 T Drive Units Percent Structured Text MDO Axis0O MDO_1 4 percent Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Direct Drive Off MDF Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 Use the Motion Direct Drive Off MDF instruction to deactivate the servo drive and to set the servo output voltage to the output offset voltage The output offset voltage is the output voltage that generates zero or minimal drive motion You can specify this value during axis configuration Operands The MDF instruction supp
320. is MAS All MCS All MGS MASD MCSD or MGSD e On the Master Axis MASD MCSD or MGSD If you assign the same axis to be both a Master and a Slave Axis an RSLogix 5000 software verification error is generated You must use different control words on all MDAC instructions If the same control word is used for the active and pending MDAC the IP bit of the pending MDAC will not work properly No error detection is made if the same control word is used on multiple MDAC instructions When separate axis control words are used for the active and the pending MDAC instructions the active and the pending MDAC will both have their IP bits set However the active MDAC will only have its AC bit set This is standard operation for all instructions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 303 Chapter 6 304 MDSC Functionality Master Reference The Master Reference for an MDAC instruction selects the Master Axis position source The enumerations for Master Reference Axis are Actual and Command e Actual Slave motion is generated by using the actual current position of the Master Axis as measured by its encoder or other feedback device e Command Slave motion is generated by using the command desired position of the Master Axis Because there is no Command Position for a Feedback Only Axis if you select either Actual or Command for Master Reference of a Feedback Only axis the Actual Position of the Mas
321. is set to false Rung condition in is false The EN bit is cleared if either the DN or ER bit is set N A Otherwise the EN bit is not affected The DN ER IP and PC bits are not affected The rung condition out is set to false Rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes Instruction execution See the following figure Postscan The rung condition out is set to false No action taken Examine EN bit ANE EN bit is set EN bit 1 Instruction EN bit remains set EN bi m detects an DN bit remains clear EN bit remains set error LER bit is set Rung condition out IP bit remains clear remains set to true PC bit remains clear Rung condition out is true EN bit remains set DN bit is affected ER bit remains clear IP bit is set PC bit remains clear Rung condition out is set to true Processing runs to completion in motion task X EN bit remains set DN bit remains set ER bit remains clear Process IP bit is cleared complete PC bit is set Rung condition out is not affected EN bit remains set DN bit remains set Y ER bit remains clear Process IP bit is cleared aborted PC bit remains clear Rung condition out is not affected 282 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5
322. is set to true Processing runs to completion EN bit remains set DN bit remains set ER bit remains clear IP bit is cleared PC bit is set Rung condition out is not affected in motion task 4 Process m complete No Process Yes aborted EN bit remains set DN bit remains set ER bit remains clear IP bit is cleared PC bit remains clear Rung condition out is not affected Rockwell Automation Publication MOTION RM002E EN P July 2015 295 Chapter 5 296 Motion Configuration Instructions MAAT MRAT MAHD MRHD Error Codes See Error Codes ERR for Motion Instructions on page 345 MRHD Extended Error Codes Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions The following Extended Error Codes help to pinpoint the problem when the MRHD instruction receives a Servo Message Failure 12 error message Associated Error Code decimal Extended Error Code decimal Meaning SERVO_MESSAGE_FAILURE 12 Process terminated on request 1 Test execution followed by an instruction to shutdown disable drive or a motion stop instruction or a Processor change requests a cancel of the Test SERVO_MESSAGE_FAILURE 12 Object Mode conflict 12 Axis is in shutdown SERVO_MESSAGE_FAILURE 12 Device in wrong state 16 Incorrect Tune Process o
323. isit http www rockwellautomation com services online phone Installation Assistance If you experience a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Canada Use the Worldwide Locator at http www rockwellautomation com rockwellautomation support overview page or contact your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature Rockwell Automation maintains current product environmental information on its website
324. it associated with the controlling Motion Arm Watch MAW instruction Operands The MDW instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MDW Motion Disarm Watch Axis Motion Control ai Table 87 MDW Relay Ladder Operand Descriptions Operand Type Format Description Axis AXIS_CIP_DRIVE Tag Name of the axis to perform operation on AXIS_FEEDBACK AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Motion control MOTION_ Tag Structure used to access instruction status INSTRUCTION parameters Structured Text MDW Axis MotionControl The operands are the same as those for the relay ladder MDW instruction MOTION_INSTRUCTION Structure Table 88 MDW MOTION_INSTRUCTION Structure Descriptions Enumerations Description EN Enable Bit 31 It is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 It is set when axis watch event checking has been successfully disarmed ER Error Bit 28 It is set to indicate that the instruction detected an error such as if you specified an unconfigured axis Rockwell Automation Publication MOTION RMOO2E EN P July 2015 223 Chapter 4 224 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Description The MDW instruction cancels watch position event checking set up by a previous Motion Arm Watch
325. it is cleared to 0 OFF All the bits in a value are cleared to 0 An instruction executes faster and requires less memory if all the operands of the instruction use the same optimal data type typically DINT or REAL Rung Condition The controller evaluates ladder instructions based on the rung condition preceding the instruction rung condition in Based on the rung condition in and the instruction the controller sets the rung condition following the instruction rung condition out which in turn affects any subsequent instruction input instruction output instruction rung in rung out condition condition If the rung in condition to an input instruction is true the controller evaluates the instruction and sets the rung out condition based on the results of the instruction If the instruction evaluates to true the rung out condition is true if the instruction evaluates to false the rung out condition is false Rockwell Automation Publication MOTION RMOO2E EN P July 2015 25 Preface Instruction Timing 26 Sequential Function Chart SFC A Sequential Function Chart is a flowchart that controls your machine or process SFC uses steps and transitions to perform specific operations or actions You can use SFC to do the following e Organize the functional specification of your system e Program and control your system as a series of steps and transitions You gain the following advantages by using Sequential Functi
326. it remains set DN bit remains clear ER bit remains clear Rung condition out is not affected Function complete Error Codes See Error Codes ERR for Motion Instructions on page 345 MAFR Changes to Status Bits The MAFR does not change the status bits MAFR Example When the input conditions are true the controller clears all motion faults for axis3 78 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 Relay Ladder MAFR Motion Axis Fault Reset N gt Axis Axis3 E N gt Motion Control MAFR_3 R gt Structured Text MAFR Axis0 MAFR 1 Rockwell Automation Publication MOTION RM002E EN P July 2015 79 Chapter1 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Notes 80 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Chapter 2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV only once Reuse of the motion control tag in other instructions can cause unintended operation This can result in damage to equipment or personal injury i ATTENTION Use tags for the motion control attribute of instructions Use the Motion Move instructions to control axis position Table 29 Choosing a Motion Move Instruction If You Want To Use This Instruction Page Languages Stop any mot
327. ithmetic Status Flags are not affected Fault Conditions There are no fault conditions MAFR Execution Conditions Condition Ladder Diagram Action Structured Text Action Prescan The EN DN and ER bits are cleared No action taken The rung condition out is set to false Rung condition in is false The EN bit is cleared if either the DN or ER bit N A is set Otherwise the EN bit is not affected The DN and ER bits are not affected The rung condition out is set to false Rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes Instruction execution See the following figure Postscan The rung condition out is set to false No action taken Rockwell Automation Publication MOTION RMOO2E EN P July 2015 77 Chapter1 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR EN bit 0 Examine EN bit EN bit is set EN bit 1 Instruction detects an error EN bit remains set DN bit remains clear ER bit is set Rung condition out remains true Rung condition out is set to true Processing runs to completion in EN bit remains set Rung condition out remains set to true motion task EN bit remains set DN bit is set ER bit remains clear Rung condition out is not affected EN b
328. ity Load Back Come Frictie Position Loop Velocity Loop Acceleration L Torque Cure Planner Homing Actions Drive Parame Parameter Lis Status Faults amp Alar Taq svi Manual Tune Rockwell Automation Publication MOTION RM002E EN P July 2015 Application Basic Fr Type Loop Response Hedin Load Coupling Rigid Customize Gains to Tune Measure Inertia Load Motor Tavel 09 e degrees Limit Speed 20 0 degrees s Torque 100 0 Rated Direction Forward Bi directional ov Perform Tune Gains Tuned DANGER This tuning procedure may cause axis motion with the controller Nene Current Tuned Units PositionLoopBandhwicth 00 PositionintegratorBandwvidth 0 0 VelocityLoopBandwvidth 0 0 E Advanced Compensation Inertia 0 0 Friction 30 519722 Active Torque 1 09140992e 009 Calculate Compensation Inertia Tuned Hz Hz Hz x Compensate load mator v r MaximumAcceleration MaximumDeceleration Systeminertia Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 The Loop Response selection is used by the software to determine the value for the Damping Factor Loop Response Damping Factor Low 1 5 Medium 1 0 High 0 8 Based on the previously listed configuration parameters MRAT execution generates a motion event on the specified axis that consists of a triangular
329. ization between a master and slave axis that are locked in a cam relationship With an active cam there are a couple ways to handle axis faults Create a virtual axis and cam everything to it and if necessary gear this virtual master axis to actual master axis of the machine Set the various fault actions for all axes to Status Only When an axis fault occurs for example a drive fault an application program monitoring the axes fault status detects the fault and does a controlled stop of all active axes by stopping the virtual master axis At the profiler level everything is still fully synchronized Use the following error on faulted axis to determine how far it is out of position Reset the fault on the faulted axis bring into position at a controlled speed by using the MAM instruction and the computed following error Finally start moving virtual master axis Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Same configuration as described previously but in this case when the slave axis faults the axis fault action disables the drive This of course would terminate the active cam process on the slave axis At this point the application program should stop all other axes via the virtual master axis Next reposition the faulted axis by determining where the master is and then calculating where the slave axis should be had the fa
330. ized Check the Motion group and make sure that the axis you are working with is associated to the group 35 Varies Illegal execution target The specified execution target exceeds the number of Output Cam targets configured for the axis 53 Varies Inhibited axis Trying to initiate an MAOC on an inhibited axis MDOC Changes to Status Bits The MDOC instruction does not make any changes to the status bits Rockwell Automation Publication MOTION RMOO2E EN P July 2015 259 Chapter 4 260 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC MDOC Example Relay Ladder MDOC Motion Disarm Output Cam Axis Axis3 E Execution Target exec_trgt2 Motion Control MDOC_2 Disarm Type All Structured Text MDOC Axis3 exec_trgt2 MDOC_2 all Rockwell Automation Publication MOTION RMOO2E EN P July 2015 vv Motion Apply Axis Tuning Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 should only be used once Reuse of the motion control tag in other i ATTENTION Tags used for the motion control attribute of instructions instructions can cause unintended operation This can result in damage to equipment or personal injury Configuration instructions include all motion instructions that are used to establish and apply servo configuration parameters to an axis This group of instructions includes hookup test diagnostic instructions and tuning instructions Use the motion c
331. kwell Automation Publication MOTION RMO02E EN P July 2015 relay ladder structured text Motion Instruction Locator Instruction Languages Instruction Languages Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Instruction Locator Instruction Location Languages Instruction Location Languages 10 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Preface Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Table of Contents If You Have a PowerFlex 700S Drive with DriveLogix Controller usws soncesse sedation ioen keeles ene 23 Who Should Use This Manual cccccucecscencveeens 23 Purpose of his Manual 2 20ccorccesteasoietncedoneaneadeuacentt 24 Conventions and Related Terms 00ccceccccucccceceeens 25 Serand leat coo Ula A th Gate alee nesta 25 Ring Condi GOhvainisteseutest cecatanebeaa E pE EE a a 25 Sequential Function Chart SFC see ee eee eee eeees 26 Instruction Timing sso s0sdetuds peak caadoteiavedeeGrovnax teaeoess 26 Immediate Type Instritctonsy 2 25 Sysencx ta scbavarensay roomed 26 Message Type Instructions 1 14 c0 20s cnins nese ee es vie seen panees 28 Process Type Instructions ot sctwcewmer tains e mere eatntertdste 29 Choose a Command a inet awe caudal Nain Sea ey 31 Additional RESOUE CES srarirnca bx atures Pacd ia rinaceransiacs bienee ot ustioatided aeons 33 Chapter 1 Motion Servo O
332. l drive by applying the configured Output Offset value The MDF instruction is used to stop motion initiated by a preceding Motion Direct Drive On MDO instruction and transition the axis from the Direct Drive Control state back to the Axis Ready state Executing the Instruction To successfully execute an MDF instruction the targeted axis must be configured as either a Servo or Feedback Only axis Otherwise the instruction errors IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 MDF Execution Conditions Condition Ladder Diagram Action Structured Text Action Prescan The EN DN and ER bits are cleared No action taken The rung condition out is set to false Rung condition in is fals
333. l time based on programmatic changes to the corresponding cam arrays Executing the Instruction IMPORTANT The MCCP instruction execution completes in a single scan This instructions should therefore be placed in a separate task to avoid impacting user program scan time This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it executes only on a transition For more information see Structured Text Programming on page 359 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 151 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Linear and Cubic Interpolation The resultant calculated cam profiles are fully interpolated This means that if the current master position or time does not correspond exactly with a point in the cam array used to generate the cam profile the slave axis position is determined by linear or cubic interpolation between adjacent points In this way the smoothest possible slave motion is provided The MCCP instruction accomplishes this by calculating coefficients to a polynomial equation that determines slave position as a function of master position or time Start Slope and End Slope To facilitate a smooth entry into and exit from a cubic cam profile slope control is provided The Start Slope and End Slope paramet
334. le can be scaled in both the master dimension and slave dimension when it is executed The scaling parameters are then used to define the total master or slave travel over which the profile is executed as shown in Figure 49 When an MAPC instruction specifies a position cam profile array the master and slave values defined by the cam profile array take on the position units of the master and slave axes respectively By contrast the Master and Slave Scaling parameters are unit less values that are simply used as multipliers to the cam profile Figure 49 Cam Profile Array Profile Scaled with Master and Slave Scaling Koi Scaled with Master Scaling Profile Scaled with Slave Scaling Master Axis Position Profile Stored in Cam Profile Array By default both the Master Scaling and Slave Scaling parameters are set to 1 To scale a position cam profile enter a Master Scaling or Slave Scaling value other than 1 Increasing the Master Scaling value of a position cam profile decreases the velocities and accelerations of the profile However increasing the slave scaling value increases the velocities and accelerations of the profile Rockwell Automation Publication MOTION RM002E EN P July 2015 401 AppendixE Camming To maintain the velocities and accelerations of the scaled profile approximately equal to those of the unscaled profile the Master Scaling and Slave Scaling values should be equal For example if the Slave
335. le to choose operators for your expressions Table 168 Choose Expression Operators If You Want To Then See Calculate an arithmetic value Use Arithmetic Operators and Functions on page 363 Compare two values or strings Use Relational Operatorson page 365 Check if conditions are true or false Use Logical Operators on page 366 Compare the bits within values Use Bitwise Operators on page 367 Use Arithmetic Operators and Functions You can combine multiple operators and functions in arithmetic expressions Table 169 Arithmetic Operators Calculate Values To Use this Operator Optimal Data Type add DINT REAL subtract negate DINT REAL multiply i DINT REAL exponent x to the power of y ae DINT REAL divide DINT REAL modulo divide MOD DINT REAL Rockwell Automation Publication MOTION RMOO2E EN P July 2015 363 AppendixC Structured Text Programming Arithmetic functions perform math operations Specify a constant a non boolean tag or an expression for the function Table 170 Arithmetic Functions For Use this function Optimal Data Type absolute value ABS numeric_expression DINT REAL arc cosine ACOS numeric_expression REAL arc sine ASIN numeric_expression REAL arc tangent ATAN numeric_expression REAL cosine COS numeric_expression REAL radians to degrees DEG numeric_expression DINT REAL natural log LN numeric_expression
336. lication Mechanical Camming In mechanical camming the master axis functions as a cam A cam is an eccentric wheel mounted on a rotating shaft and used to produce variable or reciprocating motion in another engaged part that is the slave axis The slave axis is also known as a follower assembly Rockwell Automation Publication MOTION RMOO2E EN P July 2015 393 Appendix E Camming E d 394 Mechanical camming has the following characteristics e There is a physical connection between the cam and the follower e The follower conforms to the cam shape as the cam unit rotates e Motion is limited by the cam shape This figure illustrates a mechanical cam turning in a clockwise manner and the affect it has on a follower that is physically connected to it Figure 45 Mechanical Cams a 44949 Electronic Camming Electronic camming is an electronic replacement for a mechanical camming In this case there is still a master axis that produces variable and reciprocating motion in a slave axis However electronic camming coordinates the movement of the two separate axes without a physical connection between them There is no physical cam or follower assembly In addition to removing the physical connection between axes electronic camming e Creates coordinated motion profiles that are functions of the time or relative position of another axis e Allows you to configure higher cam velocities e Is defined by u
337. lication MOTION RMOO2E EN P July 2015 Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 Error Codes See Error Codes ERR for Motion Instructions on page 345 MRAT Extended Error Codes Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions The following Extended Error Codes help to pinpoint the problem when the MRAT instruction receives a Servo Message Failure 12 error message Table 114 MRAT Extended Error Codes Meanings Associated Error Code Extended Error Code Meaning decimal decimal SERVO_MESSAGE_FAILURE 12 Process terminated on Tune execution followed by an instruction to request 1 shutdown disable drive or a motion stop instruction or a Processor change requests a cancel of Tune SERVO_MESSAGE_FAILURE 12 Object Mode conflict 12 Axis is in shutdown SERVO_MESSAGE_FAILURE 12 Device in wrong state 16 Incorrect Tune Process order sercos MRAT Changes to Status Bits Bit Name Meaning Axis is in Drive Control state with the Drive Enable output active while the Tuning Profile is running DriveEnableStatus TuneStatus TRUE The axis is running a tuning process MRAT Example When the input conditions are true the controller commands the servo module to run a tuning motion profile for axis Relay Ladder Figure 34 MRAT Ladder Example MARAT Motion Run Axis Tuning
338. lies to CIP axes configured for Feedback Only Position Loop Velocity Loop or Torque Loop operation Otherwise the instruction errs IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMO02E EN P July 2015 219 Chapter 4 220 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC MAW Execution Conditions Condition Ladder Diagram Action Structured Text Action prescan The EN DN ER IP and PC bits are cleared No action taken The rung condition out is set to false rung condition in is false The EN bit is cleared if either the DN or ER bit is set N A Otherwise the EN bit is not affected The DN ER IP and PC bits are not affected The rung condition out is set to false rung condition in is true The instruction executes N A The rung condition out is set to true
339. ling value of a profile is 2 the Time Scaling value should also be 2 to maintain approximately equal velocities and accelerations during execution of the scaled time cam IMPORTANT Decreasing the Time Scaling value or increasing the Distance Scaling of a time cam increases the required velocities and accelerations of the profile This can cause a motion fault if the capabilities of the drive system are exceeded Execution Schedule Control over the MATC instruction s execution schedule is via the Execution Schedule parameter Immediate Execution By default the MATC instruction is scheduled to execute immediately by virtue of the fact that the default setting of the Execution Schedule parameter is Immediate In this case there is no delay to the enabling of the time camming process As illustrated in Figure 17 when the MATC instruction is executed the camming process is initiated on the specified axis and the Time Cam Status bit in the axis Motion Status word is set If the Execution Schedule parameter is set to Immediate the axis is immediately locked to the time master coordinate according to the specified Cam Profile Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Figure 17 Camming Process Initiated Cam Profile Axis Position Time 1 o Time Gam Status Time Gam Initiated Ifan MATC inst
340. listed in the faceplate from top to bottom with the first operand being counted as zero Therefore for the MAR instruction an extended error code of 4 would refer to the Min Position value You would then have to check your value with the accepted range of values for the instruction Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC MAR Changes to Status Bits Bit Name Meaning RegEventArmedStatus The axis is looking for a registration event RegEventStatus The previous registration event is cleared MAR Example When the input conditions are true the controller arms servo module registration event checking for axis_0 Relay Ladder MAR Motion Arm Registration Axis Axis2 E Motion Control MAR_2 Trigger Condition Positive_Edge Windowed Registration Enabled OV 9S Min Position minmarpos_1 Max Position maxmarpos_1 Input Number 1 Structured Text Chapter 4 MAR Axis2 MAR_2 positive_edge enabled minmarpos_1 maxmarpos_1 1 Rockwell Automation Publication MOTION RM002E EN P July 2015 235 Chapter 4 Motion Disarm Registration MDR 236 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Use the Motion Disarm Registration MDR instruction to disarm the specified motion module registration input event checking for the specified axis This instruction has the affect of clearing both the RegEventStatus and the RegAr
341. m false to true The rate at which this logic functions depends on the following e Program scan time e Motion task course update rate IMPORTANT In large 1 0 connections force values can slow down the rate at which the controller processes repetitive motion registration Executing the Instruction To successfully execute a MAR instruction the targeted axis must be configured as either a Servo or Feedback Only axis The MAH instruction also applies to CIP axes configured for Feedback Only Position Loop Velocity Loop or Torque Loop operation Otherwise the instruction errs IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Rockwell Automation Publication MOTION RMOO2E EN P July 2015 231 Chapter4 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Fault Conditions There are no fault conditions 232 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion
342. mand data from the motion planner that is the Tracking Command status bit is cleared Once the selected Stopping Mode procedure has completed the axis transitions to the Stopped state Aborting When a Major Fault occurs in the drive while the axis is in either the Running or Testing states the motion axis immediately transitions to the Aborting state In this state the axis is in the process of stopping and no longer tracks command data from the motion planner that is the Tracking Command status bit is cleared The Aborting state executes the appropriate stopping action as specified by the drive As with the Stopping state in the Aborting state the power structure remains active that is the Power Structure Enabled status bit is set for as long as the stopping action takes to complete Once the stopping procedure is complete the axis transitions to the Faulted state When faults conditions are detected in the controller that are not visible to the drive or when the drive reports a Minor Fault condition the controller brings the axis to a stop either directly via an Axis Control state change request or motion planner stop or indirectly via a fault handler in the user program If the Axis State reported by the drive is Stopping the controller sets the CIP Axis State to Aborting based on the presence of the fault condition Rockwell Automation Publication MOTION RMO02E EN P July 2015 37 Chapter1 Motion State Instructions MSO
343. mation Publication MOTION RM002E EN P July 2015 Analyzing Axis Motion Chapter 8 Table 151 Axis Deceleration Corrective Action Important Leave bit 0 of the DynamicsConfigurationBits attribute for the axis turned ON Otherwise this corrective action won t work kn 16and See the Logix Designer online help for more information greater Help gt Contents gt GSV SSV Objects gt Axis gt Dynamics Configuration Bits Increase the deceleration jerk of an Motion Axis Stop MAS instruction to get a quicker stop e Ifthe Jerk Units are of Time then reduce the of Time on the Decel Jerk e Ifthe Jerk Units are of Maximum then increase the of Maximum on the Decel Jerk e Ifthe Jerk Units are Units per Se then increase the Units per Sec on the Decel Jerk Rockwell Automation Publication MOTION RMO02E EN P July 2015 333 Chapter8 Analyzing Axis Motion Axis Overshoots the Target Speed decelerate IMPORTANT While an axis is accelerating you try to stop the axis or change its speed The axis keeps accelerating and goes past its initial target speed Eventually it starts to Revision 16 improved how the controller handles changes to an S curve profile See the Logix Designer software online help for more information Help gt Contents gt GSV SSV Objects gt Axis gt Dynamics Configuration Bits Table 152 Axis Overshoots the Target Speed Example You ex
344. mation Publication MOTION RMO02E EN P July 2015 343 Chapter8 Analyzing Axis Motion Notes 344 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Appendix A Error Codes ERR for Motion Instructions This table lists the error codes for Logix Designer software motion instructions Table 156 Motion Instruction Error Codes Descriptions Error Corrective Action or Cause Notes 1 Reserved Error Code 1 Reserved for future use 2 Reserved Error Code 2 Reserved for future use 3 Look for another instance of this type of instruction See if its EN bit is on but its DN Execution Collision and ER bits are off enabled but not done or erred Wait until its DN or ER bit turns You cannot execute an instruction by using the same control word as another on instruction if the other instruction is not done or has an error Regardless it is recommended that each instruction has a unique control word 4 Open the servo loop before you execute this instruction Servo On State Error 5 Close the servo loop before you execute this instruction Servo Off State Error For a motion coordinated instruction look at the extended error code EXERR It identifies which axis caused the error Example If EXERR is zero check the axis for dimension zero 6 Disable the axis drive Drive On State Error 7 Execute a Motion Axis Shutdown Reset MASR instruction or direct command to Shutdown State Error reset the axis For a moti
345. medEventStatus bits The In Process bit of the controlling Motion Arm Registration instruction if any is cleared as a result of executing the MDR instruction Operands The MDR instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MDA Motion Disarm Registration Axis Motion Control Input Number ND Ko R gt eed Table 92 MDR Relay Ladder Operand Type Format Description Axis AXIS_CIP_DRIVE Tag Name of the axis to perform operation on AXIS_ FEEDBACK AXIS_GENERIC AXIS_ SERVO AXIS_SERVO_DRIVE Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Input Number DINT 1or2 Specifies the Registration Input to select 1 Registration 1 Position 2 Registration 2 Position Structured Text MDR Axis MotionControl InputNumber The operands are the same as those for the relay ladder MDR instruction MOTION_INSTRUCTION Structure Table 93 MAR Bit Descriptions Enumerations Description EN Enable Bit 31 It is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 It is set when axis watch event checking has been successfully disarmed ER Error Bit 28 It is set to indicate that the instruction detected an error such as if you specified an unconfigured axis Rockwell Automation Publication MOTION RM
346. mediate Position on the Master Axis where a Slave axis should start after the move has been initiated on the Slave only if Tag the MATC instruction is specified in Master Driven mode otherwise use a 0 Master Units Immediate Specifies when the Master Lock Position should be used Only used if the MATC instruction is specified in Time Driven mode 0 None default 1 Immediate Forward Only 2 Immediate Reverse Only 3 Position Forward Only 4 Position Reverse Only Immediate Specifies if the MATC instruction is in Time Drive or Master Driven mode Structured Text MATC Axis MotionControl Direction CamProfile DistanceScaling TimeScaling ExecutionMode ExecutionSchedule LockPosition LockDirection InstructionMode The operands are the same as those for the relay ladder MATC instruction For the array operands you do not have to include the array index If you do not include the index the instruction starts with the first element in the array 0 Enter your selection for the operands that require you to select from available options Table 66 MATC Available Operands This Operand Has These Options That You Enter as Text Or Enter as a Number ExecutionMode once 0 continuous 1 ExecutionSchedule immediate 0 pending 1 MATC MOTION_INSTRUCTION Structure Table 67 MATC Bit Descriptions Enumerations Description EN Enable Bit 31 The enable bit is set when the rung transitions from false to true and sta
347. mmediate value e Functions such as ABS TRUNC e Operators such as lt gt And Or As you write expressions follow these general rules e Use any combination of upper case and lower case letter For example these three variations of AND are acceptable AND And and e For more complex requirements use parentheses to group expressions within expressions This makes the whole expression easier to read and ensures that the expression executes in the desired sequence For more information see Determine the Order of Execution on page 368 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Structured Text Programming Appendix C In structured text you use these two types of expressions BOOL expression An expression that produces either the BOOL value of 1 true or 0 false e A boolean expression uses BOOL tags relational operators and logical operators to compare values or check if conditions are true or false For example tag gt 65 e A simple BOOL expression can be a single BOOL tag e Typically you use BOOL expressions to condition the execution of other logic Numeric expression An expression that calculates an integer or floating point value e A numeric expression uses arithmetic operators arithmetic functions and bitwise operators For example tagl 5 e Often you nest a numeric expression within a bool expression For example tag 5 gt 65 Use the following tab
348. mmon operation as the profile position values are used just as entered in the original cam table That is consecutive increasing profile values result in axis motion in the positive direction and vice versa 1 Opposite The slave axis position values are in the opposite sense of the master s When Opposite is selected or entered as the Direction the slave axis position values computed from the cam profile are subtracted from the command position of the slave axis Thus axis motion is in the opposite direction from that implied by the original cam table That is consecutive increasing profile values result in axis motion in the negative direction and vice versa Or relative to the current or previous camming direction 2 Reverse The current or previous direction of the position cam is reversed on execution When executed for the first time with Reverse selected the control defaults the direction to Opposite 3 Unchanged This allows other cam parameters to be changed without altering the current or previous camming direction same or opposite This is useful when the current direction is not known or is not important When executed for the first time with Unchanged selected the control defaults the direction to Same Rockwell Automation Publication MOTION RM002E EN P July 2015 157 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Table 60 MAPC Relay Ladder Operand Description
349. motion of all the axes in the group has been brought to a stop the Process Complete PC bit is set in the control structure Operands The MGS instruction supports the following operands e Relay Ladder e Structured Text MGS Motion Group Stop No Group fal No Motion Control R gt 7 P gt co Stop Mode Table 72 MGS Relay Ladder Descriptions Operand Type Format Description Group MOTION_GROUP Tag Name of the group of axes to perform operation on Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Stop Mode UDINT Immediate Controls how the axes in the group are stopped Select one of the following methods 0 Programmed each axis is stopped according to how the individual axis has been configured 1 Fast Stop each axis in the group is decelerated at the Maximum Deceleration rate and the stopped axis is left in the Servo Active state 2 Fast Disable each axis in the group is decelerated at the Maximum Deceleration rate and the stopped axis is placed in the Axis Ready state Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Group Instructions MGS MGSD MGSR MGSP Chapter 3 Structured Text MGS Group MotionControl StopMode The operands are the same as those for the relay ladder MGS instruction Enter your selection for the operands that require you to select from available options Table 73 MGS Structured Text
350. moves in the opposite direction Eventually goes back to its programmed direction Look For Jog_PB sLocal 4 Data 1 0 gt My_Axis_OK Higher deceleration than the jogging instruction For example Change Decel is set to No This means the axis uses its Maximum Deceleration AJ Motion Axis Jog EN Axis My_Axis Motion Control Manual_Jog ON Direction 0 ER Speed Manual_Jog_Speed 60 0 IP Speed Units Units per sec Accel Rate Manual_Jog_Accel 20 06 Lower deceleration than the stopping Accel Units Units per sec2 instruction Decel Rate Manual_Jog_Decel 20 0 Decel Units Units per sec2 S curve profile in the instruction that starts Profile Curve the motion Accel Jerk Manual_Jog_Accel_Jerk 100 0 Decel Jerk Manual_Jog_Decel_Jerk 100 0 Jerk Units of Time Merge Disabled Merge Speed Programmed lt lt Less Jog_PB sLocal 4 Data 1 0 AS i Motion Axis Stop EN f Axis My_Axis Stop Type is Jog or Move Motion Control Stop_Jog DN Stop Type Jog Change Decel No Decel Rate Stop_Jog_Decel 100 0 Decel Units Units per sec2 Change Decel Jerk Yes Decel Jerk Stop_Jog_Decel_Jerk 100 0 of Time Jerk Units lt lt Less 338 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Analyzing Axis Motion Chapter 8 Table 154 Axis Reverse Direction Cause When you use an S curve profile jerk determines how fast an axis can c
351. mpted If the error persists contact Rockwell Automation Support Rockwell Automation Publication MOTION RMOO2E EN P July 2015 349 AppendixA Error Codes ERR for Motion Instructions Table 156 Motion Instruction Error Codes Descriptions Continued Error Corrective Action or Cause Notes 80 When referencing a Scheduled Output Module for example the OB16IS make sure MAOC Invalid Output Operand that the Output operand of the MAOC references 0 Data and that the Scheduled If the MAOC output operand references an 0B16IS Scheduled Output module two Output Module s communication format is set to Scheduled Output Data per point additional checks occur when the MAOC is initiated The Output operand must be referencing the beginning of the module s output Bad Connection Parameter Connection Instance Failure Internal error can occur data tag 0 Data Bad Communication Format 1 0 subsystem Failure The communications format of the 0B161S module must be the default CIP Sync not synchronized Scheduled output module reporting not synchronized to Scheduled Output Data per Point a CIP Sync master If either of these checks fail you see this error Grandmaster Clock mismatch Scheduled output module has different Grandmaster ExErr 1 Invalid Data Tag Reference The Output operand is not pointing to the clock than the controller 0 Data element of the module s output data tag ExErr 2 Invalid OB161S Module Communications
352. n MOTION RM002E EN P July 2015 285 Chapter 5 286 Motion Configuration Instructions MAAT MRAT MAHD MRHD Description AXIS_SERVO AXIS_SERVO_ DRIVE The MRHD instruction is used to execute various test diagnostics on the specified axis to test the integrity and in some cases the polarity of servo field connections There are currently test diagnostics supporting drive hookup encoder hookup marker hookup and motion module OK contact hookup During some of these test processes the motion module generates output to the external drive to produce a small amount of motion Measurements made during some of these hookup diagnostic tests are saved as output configuration parameters that also serve as input data for a subsequent MAHD Motion Apply Hookup Diagnostic instruction MRHD require only one explicit input parameter Diagnostic Test Enter or select the Diagnostic Test to run and the axis to test If the targeted axis does not appear in the list of available axes the axis has not been configured for operation Use the Tag Editor to create and configure a new axis The MRHD instruction uses axis configuration parameters as input and output The input configuration parameters that MRHD uses are shown in the following table Axis Parameter Data Type Units Definition Distance that the Axis must travel to satisfy the Motor Encoder Test Increment Hookup Diagnostic Test The axis configuration parameters that MRHD generat
353. n MSOQ 2 x Hacducnceeneniets aetna eee ee 39 Operands aa nnna SEE cinta etre haat em nines hha Raa weed ches tees 39 Description wiisiti hs cduven etry eed ewan E EE iets 40 Arithmetic Status Flags sioviia ts lewis Mise genes Seapets 40 Fault GOndMOltis a Staudt Aon op awenaalennysoae eae Pees 40 MSO Execution Conditions 0 ccccccccececeeevenens 4l Error GOdesied ciri sash hea a a oe bia g A EAA 4l MSO Changes to Status Bits wi 504 o5 cs seeders Sess 42 Examples iana ee wed wha AE ete oie re ate heed iad eens 42 Motion Servo Off MSP Vivwuticitiecte vekal oun tite aiid ire 2cBe eee 43 Operands tania boot eek ts ta carpe eucten eee eee 43 Descriptioten cape actns a E pa aeeteeadseasyeies AR 44 Arithmetic Status Flags sc cates blond soovareanied beats 45 Failt Cot tions eere nenni tantea rena eae eth wate peace 45 MSF Execution Conditions 2i20553 c4 sds er sas 46 Error CodeS eea but e aati dees hina A a E a SS 46 MSF Changes to Status Bitsai 23054 selon le vacuinne a ene tenets 47 MSE Example cea Got ceo tet a ENS ahem atest 47 Motion Axis Shutdown MASD si csca eves ows neeenn pudidsancteas 48 Operands eu geh tke hi ee ee aes tetas 48 Description es eeen weet adil node Ave Rede aA ature otal 49 Arithmetic Status Flags ac sine is canca nace oaddd esa po Rnenebe 50 Fault Conditions sssssuuuusserrrrrrrererrrrrrrrererrre 50 MASD Execution Conditions ccc cece cece cee eeeee 51 nanao ea COG E E
354. n Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Changing the Cam Lock Position with Immediate Execution Schedule The Cam Lock Position parameter of the MAPC instruction determines the starting location within the cam profile when the slave locks to the master Typically the Cam Lock Position is set to the beginning of the cam profile as shown in Figure 8 Because the starting point of most cam tables is 0 the Cam Lock Position is typically set to 0 Alternatively the Cam Lock Position can be set to any position within the master range of the cam profile Ifa Cam Lock Position is specified that is out of this range the MAPC instruction errors Figure 9 shows the effect of specifying a Cam Lock Position value other than the starting point of the cam table in this case a position within the cam profile itself Care must be taken not to define a Cam Start Point that results in a velocity or acceleration discontinuity to the slave axis if the master axis is currently moving Figure 9 Changing the Cam Lock Position Cam Slave Axis Start Position Postion Cam Profile Master Axis Position 1 o Position Cam Lock Status Position Cam Status Postion Cam Initiated Rockwell Automation Publication MOTION RMO02E EN P July 2015 165 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Forward Only Reverse Only or
355. n as you start the stopping instruction The axis continues to speed up until the S curve profile brings the acceleration to zero Corrective Action Revision 15 and earlier Jog_PB sLocal4 Data 1 0 gt My_Axis_OK AY Motion Axis Jog Axis My_Axis Motion Control Manual_Jog Direction 0 Speed Manual_Jog_Speed 80 0 Speed Units Units per sec Accel Rate Manual_Jog_Accel 20 06 Accel Unit hits per se Decel Rate Manual_Jog_Decel 1 Use an Motion Axis Jog MAJ instruction to stop the 40 0 Decel Units Units per sec2 axis Profite Curve 2 Set the speed of the stopping Motion Axis Jog MAJ instruction to zero 3 Use a higher acceleration in the stopping Motion Axis Jog MAJ SAME DECELERATION Reason This increases the acceleration jerk The axis can begin to stop sooner at the higher acceleration jerk MAJ 4 Use a deceleration that gives you the response you E Motion Axis a EN Pi A xis y_Axis want without too much jerk eee rap i Direction 0 Important Use the same deceleration in both instructions Otherwise the axis could reverse directions when you go from stopping to starting again Speed Jog_2_Speed 00e Speed Units Units per sec Accel Rate Jog_2_Accel 40 06 Decel Rate Jog_2_Decel 40 06 Decel Units Units per sec2 rotile S Curve Accel Jerk 100 0 Decel Jerk 100 0 Jerk Units of Time Merge Disabled Merge Speed Programmed 332 Rockwell Auto
356. n disarms either all Output Cams or only a specific Output Cam The corresponding outputs maintain the last state after the disarming Operands The MDOC instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MDOC Motion Disarm Output Cam Axis Execution Target voy Motion Control Disarm Type REENERT Table 103 MDOC Relay Ladder Operand Description Operand Type Format Axis AXIS_CIP_DRIVE Tag AXIS_FEEDBACK AXIS_CONSUMED AXIS_VIRTUAL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Description Name of the axis which provides the position input to the Output Cam Ellipsis launches Axis Properties dialog box Execution Target SINT INT or DINT immediate or Tag The execution target defines the specific Output Cam from the set connected to the named axis Behavior is determined by the following 0 8 Output Cams executed in the Logix controller e 9 31 Reserved for future use Motion Control MOTION_INSTRUCTION Tag Disarm Type DINT immediate Structured Text Structure used to access instruction status parameters Selects one or all Output Cams to be disarmed for a specified axis 0 All Disarms all Output Cams connected to the specified axis 1 Specific Disarms the Output Cam that is connected to the specified axis and defined by the Execution Target MDOC Axis ExecutionTarget MotionControl Disarm
357. n executes Instruction execution See the following figure Postscan The rung condition out is set to false No action taken EN bit 0 fea Examine EN bit EN bit is set EN bit 1 Instruction EN bit remains set F detects an DN bit remains clear EN bit remains set error ER bit is set Rung condition out IP bit remains clear remains set to true PC bit remains clear Rung condition out is true EN bit remains set DN bit is not affected ER bit remains clear LIP bit is set PC bit remains clear Rung condition out is set to true Processing runs to completion in motion task EN bit remains set DN bit is set p ER bit remains clear inate IP bit is cleared complete PC bit is set Rung condition out is not affected EN bit remains set DN bit is set Ye ER bit remains clear Process a IP bit is cleared aborted PC bit remains clear Rung condition out is not affected 96 Rockwell Automation Publication MOTION RM002E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV MAH Error Codes Chapter 2 See Error Codes ERR for Motion Instructions on page 345 MAH Extended Error Codes Use Extended Error Codes EXERR for more information about an error Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions The following Extended Error Codes help in troubles
358. n specific information for the Error Codes that are generic to many instructions Extended Error Codes for the Parameter Out of Range 13 error code lists a number that refers to the number of the operand as they are listed in the faceplate from top to bottom with the first operand being counted as zero Therefore for the MCSV instruction an extended error code of 2 would refer to the Master Value operand s value You would then have to check your value with the accepted range of values for the instruction MCSV Changes to Status Bits The MCSV instruction does not make any changes to the status bits 194 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Group Instructions MGS MGSD MGSR MGSP Chapter 3 should only be used once Reuse of the motion control tag in other i ATTENTION Tags used for the motion control attribute of instructions instructions can cause unintended operation This can result in damage to equipment or personal injury Group Control Instructions include all motion instructions that operate on all the axes in the specified group Instructions that can be applied to groups include position strobe shutdown control and stopping instructions Only one group is supported per Logix controller These are the motion group instructions Table 71 Choosing Motion Group Instructions If You Want To Use This Instruction Page Initiate a stop of motion on a group Motion Gr
359. nconfigured axis Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 Description The MASR instruction clears all axis faults and takes the specified axis out of the Shutdown state If the motion module supports an OK contact and no other module axis is in the Shutdown state the MASR instruction results in closure of the module s OK solid state relay contact Regardless of the OK contact condition execution of the MASR places the axis into the Axis Ready state Just as the Motion Axis Shutdown MASD instruction forces the targeted axis into the Shutdown state the MASR instruction takes the axis out of the Shutdown state into the Axis Ready state One of the unique characteristics of the Shutdown state is that any associated OK solid state relay contact for the motion module is Open If as a result of an MASR instruction there are no axes associated with a given motion module in the Shutdown state the OK relay contacts close as a result of the MASR This feature can be used to close the E Stop string that controls main power to the drive system and thus permit the customer to reapply power to the drive Note that there is typically only one OK contact per motion module which means that execution of the MASR instruction can be required for all axes associated with a given module for the OK contact to close To successfully execute a M
360. nd Descriptions This Operand Has These Options Which You Enter as Text Or Enter as a Number Axis No enumeration Tag MotionControl No enumeration Tag Direction No enumeration Immediate Tag Speed No enumeration Immediate Tag SpeedUnits units per sec 0 of maximum 1 AccelRate AccelUnits units per sec 0 of maximum 1 DecelRate DecelUnits units per sec 0 of maximum 1 Profile trapezoidal 0 S curve 1 AccelJerk No enumeration Immediate Tag DecelJerk N ti You must always enter a value for the Accel ereke Cenumeradon and Decel Jerk operands This instruction only uses the values if the Profile is configured as S curve Use these values to get started e Accel Jerk 100 of Time e Decel Jerk 100 of Time Jerk Units units per sec 0 of maximum 1 of time 2 use this value to get started Merge disabled 0 enabled 1 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 101 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Table 38 MAJ Structured Text Operand Descriptions Continued This Operand Has These Options Which You Enter as Text Or Enter as a Number MergeSpeed programmed 0 current 1 Lock Position Master Lock Position Value Position on the Master Axis where a Slave axis should start after the move has been initiated on the Slave Master Units Lock Direction Master Lock Position Value 0 None 1 Imme
361. nd store the result in P Inventory_Items DINT tag End_if 2 Initialize the position tag to 0 End_for 3 If Barcode matches the ID of an item in the array then a Set the Quantity tag Inventory position Qty This produces the quantity in stock of the item b Stop Barcode is a string tag that stores the bar code of the item that you are searching For example when position 5 compare Barcode to Inventory 5 ID 4 Add 1 to position 5 If position is to Inventory_Items 1 repeat 3 and 4 Because element numbers start at 0 the last element is 1 less than the number of elements in the array Otherwise stop 380 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Structured Text Programming Appendix C WHILE DO Use the WHILE DO loop to keep doing something as long as certain conditions are true Operands Structured Text WHILE bool_expression DO lt statement gt END_WHILE IMPORTANT Make sure that you do not iterate within the loop too many times in a single scan e The controller does not execute any other statements in the routine until it completes the loop e Ifthe time that it takes to complete the loop is greater than the watchdog timer for the task a major fault occurs e Consider using a different construct such as IF THEN Table 185 WHILE DO Operand Description Operand Type Format Enter bool_expression BOOL Tag BOOL tag o
362. nding cam profiles to be preloaded prior to executing the initial cam This method addresses cases where immediate cams would finish before the pending cam could be reliably loaded Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Camming Appendix E After a Pending position cam has been configured the Position or Time Cam Pending Status bit of the Motion Status word for the specified slave axis is set to 1 true When the pending new profile is initiated and becomes the current profile Position or Time Cam Pending Status bit is immediately cleared as shown in Figure 56 Figure 56 Pending Position Cam Current Profile New Profile MAPC Instruction Slave Axis Position Master Axis Position Position Cam I Pending Status Pending New Position Cam Configured Current Profile New Profile MATC Instruction Slave Axis Position Master Axis Time Time Cam Pending l Status Pending New Position Cam Configured Rockwell Automation Publication MOTION RMOO2E EN P July 2015 411 AppendixE Camming Notes 412 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Appendix F History of Changes This appendix summarizes the revisions to this manual Reference this appendix if you need information to determine what changes have been made across multiple revisions This may be especially useful if you are deciding to upgrade your hardware or software based
363. ndition out is set to false rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes instruction execution See on page 252 postscan The rung condition out is set to false No action taken EN bit 0 Examine EN bit EN bit is set EN bit 1 Hee EN bit remains set etects an P i CEN bit remains set r DN bit remains clear Rung condition out ER bit is set remains set to true Rung condition out remains true Rung condition out is set to true Processing runs to completion in motion task EN bit remains set Function DN bit is set ae complete ER bit remains clear Rung condition out is not affected EN bit remains set DN bit remains clear Cid gt ER bit remains clear Rung condition outis not affected Error Codes See Error Codes ERR for Motion Instructions on page 345 252 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 MAOC Extended Error Codes Use Extended Error Codes EXERR for more information about an error Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions Table 102 MAOC Extended Error Codes Description If ERR is And EXERRis Then Cause Corrective Action 07 Varies Attempted execution
364. ndpoint tes oho ot Event Distance _ Returned Data _ MAM1Startpoint If the value in the Event Distance array is 0 0 then it is the time or distance for the whole move If the value is greater than or equal to the move length then a 0 is returned The values entered in the Event Distance array are the same for both Time Driven and Master Driven Mode only the returned values in the Calculated Data array are different depending on the programmed mode of the slave axis When Event Distance is specified as a negative number then the Event Distance calculation is skipped and a 1 is returned in the Calculated Data array for the specified Event Distance parameter There is no limit on the dimension of either the Event Distance or Calculated Data arrays However a maximum of 4 elements the specified value and the next 3 of the Event Distance array will be processed Special consideration for the rare case of an overshoot when a MCD or MCCD is done close to the moves endpoint For this case the Calculated Data will include the overshoot when the Event Distance is 0 because the master will have to traverse this amount for the move to finish For other Event Distances the overshoot will not be included Specifies if an MATC should be executed in Time Driven Mode 0 or Master Driven Mode 1 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Value Default 0 No Event Distance array or a REAL array tag
365. nds 142 Motion Run Axis Tuning MRAT 32 268 277 arithmetic status flags 275 changes to status bits 277 description for use with AXIS_CIP_DRIVE 272 289 description for use with AXIS_SERVO or AXIS_SERVO_DRIVE 269 error codes 277 execution conditions 276 fault conditions 275 operands 268 tune status parameter 274 Motion Run Hookup Diagnostics MRHD 32 284 296 arithmetic status flags 294 changes to status bits 296 Commutation test 293 description for use with AXIS_SERVO or AXIS_SERVO_DRIVE 286 Encoder Hookup test 287 291 error codes 296 execution conditions 295 fault conditions 294 Marker Hookup test 288 292 Motor Encoder Hookup test 287 290 operands 284 test status 288 293 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Index Motion Servo Off MSF 31 43 47 arithmetic status flags 45 changes to status bits 47 description 44 error codes 46 example 47 execution conditions 46 fault conditions 45 operands 43 Motion Servo On MSO 31 39 42 arithmetic status flags 40 changes to status bits 42 description 40 error codes 41 execution conditions 41 extended error codes 42 fault conditions 40 operands 39 Motion State Instructions 35 79 Motion Axis Fault Reset MAFR 31 75 79 Motion Axis Shutdown MASD 31 48 53 Motion Axis Shutdown Reset MASR 31 54 58 Motion Direct Drive Off MDF 31 65 68 Motion Direct Drive On MDO 31 59 64 Motion Drive Start MDS 31 69 74 Motion
366. ned by the start and end points of the cam profile When the master axis moves beyond the defined range of the profile cam motion on the slave axis stops and the Process Complete bit is set Slave motion does not resume if the master axis moves back into the cam profile range When the master axis moves outside the range of the profile cam motion on the slave axis stops and the Process Complete bit of the MAPC instruction is set Note that contrary to the current S Class practice slave motion does not resume when and if the master moves back into the profile range specified by the start and end points 1 Continuous Once started the cam profile is executed indefinitely This feature is useful in rotary applications where it is necessary that the cam position run continuously in a rotary or reciprocating fashion 2 Persistent When the Master Axis moves beyond the defined range cam motion on the Slave Axis stops and the PositionCamLockStatus bit is cleared Slave motion resumes in the opposite direction when the Master Axis reverses and moves back into the cam profile range at which time the PositionCamLockStatus bit is set Execution Schedule DINT Immediate Selects the method used to execute the cam profile Control over the MAPC instruction s execution is via the Execution Schedule parameter Options are 0 Immediate The slave axis is immediately locked to the master axis and the position camming process begins The Ma
367. ned with the user s definition of forward direction can be used to configure the various polarity attributes for the correct directional sense If due to improper hookup or some other problem with the system the axis feedback fails to detect the axis reaching the configured Motor Encoder Test Increment within 2 seconds the servo sets the test voltage back to zero and disables the drive The control reflects this condition through the Test Status axis output parameter This usually indicates that either the cabling to the drive or the cabling to the encoder is incorrect Running MRHD with the Encoder Hookup Test selected is an effective method of isolating the problem to the encoder or drive Encoder Hookup Test If the Encoder Test is selected the motion module does not generate any axis motion but simply monitors axis encoder feedback The axis can then be moved by hand or by some other independent drive actuator to generate motion When the motion module detects that the axis has moved a distance greater than or equal to the configured Motor Encoder Test Increment the test is complete The motion module then reports the direction of travel as one of the following MRHD output parameters Definition Returns the status of the last Run Hookup Test service on the targeted drive axis The Hookup Test Status attribute can be used to determine when the hookup test service has successfully completed Conditions can occur however that make it
368. nfigured IMPORTANT The MGSP instruction execution completes in a single scan setting the Done DN bit immediately This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 211 Chapter3 Motion Group Instructions MGS MGSD MGSR MGSP MGSP Execution Conditions Condition Ladder Diagram Action Structured Text Action prescan The EN DN and ER bits are cleared No action taken The rung condition out is set to false rung condition in is false The EN bit is cleared if either the DN or ER bit is set N A Otherwise the EN bit is not affected The DN and ER bits are not affected The rung condition out is set to false rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes instruction execution See the following figure postscan The rung condition out is set to false No action taken EN bit 0 e Examine EN bit EN bit is set Instruction detects an EN bit remains set
369. nitiated the corresponding active Master Offset Move is disabled and the corresponding Master Offset Strobe Offset and Start Master Offset are reset to zero In order to achieve the master reference position shift the MAM instruction must be initiated after the MAPC is initiated See the Motion Axis Move MAM on page 111 instruction for more information on Master Offset moves Stopping a Cam Like other motion generators jog move gear active cams must be stopped by the various stop instructions such as the Motion Axis Stop MAS on page 82 or Rockwell Automation Publication MOTION RMO02E EN P July 2015 171 Chapter 2 172 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV the Motion Group Stop MGS on page 196 Cam motion must also stop when the ControlLogix processor changes OS modes The MAS instruction in particular must be able to specifically stop the camming process This behavior should be identical to the MAS functionality that specifically stops a gearing process Merging from a Cam Like other motion generators jog move gear active cams must also be compliant with motion merge functionality Moves and Jogs in particular must be able to merge from active camming This behavior should be identical to the merge functionality applied to a gearing process Handling Axis Faults Sometimes it is necessary to respond to an axis fault condition without loosing synchron
370. nse to a previous message 0x3 The response to a message failed 0x4 The module is not ready for messaging STATE SINT The execution status value keeps track of the execution state of a function Many motion functions have several steps and this value tracks these steps The execution status is always set to 0 when the controller sets the EN bit for a motion instruction Other execution states depend on the motion instruction SEGMENT DINT A segment is the distance from one point up to but not including the next point A SEGMENT gives the relative position by segment number as the Cam is executing EXERR SINT Extended error code use it for more information about an error 356 Rockwell Automation Publication MOTION RM002E EN P July 2015 Motion related Data Types Structures Appendix B OUTPUT CAM Structure The OUTPUT_CAM data type is an array that defines the specifics for each Output Cam element The OUTPUT_CAM contains the following members Table 163 OUTPUT_CAM Member Descriptions Enumerations Data Type Description OutputBit DINT You must select an output bit within the range of 0 to 31 A selection of less than 0 or greater than 31 results in an Illegal Output Cam error and the cam element is not considered LatchType DINT The Latch Type determines how the corresponding output bit is set A value of less than 0 or greater than 3 results in an Illegal Output Cam e
371. nstruction is a set of measurement data that is stored in the Axis Object for subsequent use with the Motion Apply Axis Tuning MAAT instruction Operands The MRAT instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MRAT Motion Run Axis Tuning a Axis Motion Control PY PP Table 110 MRAT Relay Ladder Operand Descriptions Operand Type Format Description Axis AXIS_CIP_DRIVE Tag Name of the axis to perform operation on AXIS_SERVO AXIS_SERVO_DRIVE Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Structured Text MRAT Axis MotionControl The operands are the same as those for the relay ladder MRAT instruction MOTION_INSTRUCTION Structure Table 111 MRAT MOTION_INSTRUCTION Structure Descriptions Enumerations EN Enable Bit 31 Description It is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 It is set after the tuning process has been successfully completed Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 Table 111 MRAT MOTION_INSTRUCTION Structure Descriptions Enumerations Description ER Error Bit 28 It is set to indicate that the instruction detected an error such a
372. nstruction is documented in A page number This manual Coordinate Motion Coordinate System User Manual MOTION UM002 General Logix5000 Controllers General Instructions Reference Manual 1756 RM003 Process Logix5000 Controllers Process Control and Drives Instructions Reference Manual 1756 RM006 Instruction Location Languages Instruction Location Languages Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Instruction Locator Instruction Languages Instruction Languages Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Instruction Locator Instruction Location Languages Instruction Location Languages MAAT 261 relay ladder Motion Apply Axis Tuning structured text MAFR 75 relay ladder Motion Axis Fault Reset structured text MAG 123 relay ladder Motion Axis Gear structured text MAH 92 relay ladder Motion Axis Home structured text MAHD 278 relay ladder Motion Apply Hookup Diagnostics structured text MAJ 99 relay ladder Motion Axis Jog structured text MAM 111 relay ladder Motion Axis Move structured text MAOC 239 relay ladder Motion Arm Output Cam structured text MAPC 15 relay ladder Motion Axis Position Cam structured text MAR 27 relay ladder Motion Arm Registration structured text MASD 48 relay ladder Motion Axis Shutdown structured text MAS 82 relay ladder Motion Axis Stop structured text MASR 54 relay ladder Motion Axis Shutdo
373. nstruction supports the following operands e Relay Ladder e Structured Ladder Relay Ladder MGSD Motion Group Shutdown N gt Group Motion a M Motion Control MGSD_2 R gt Table 77 MGSD Relay Ladder Descriptions Operand Description Group MOTION_GROUP Name of the group of axes to perform operation on Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Structured Text MGSD Group MotionControl The operands are the same as those for the relay ladder MGSD instruction MOTION_ INSTRUCTION Structure Table 78 MGSD MOTION_INSTRUCTION Structure Descriptions Enumerations Description EN Enable Bit 31 The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN Done Bit 29 The done bit indicates when the instruction sets the group of axes to the shutdown operating state ER Error Bit 28 The error bit indicates when the instruction detects an error such as if messaging to the servo module failed 202 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Group Instructions MGS MGSD MGSR MGSP Chapter 3 Description The MGSD instruction turns drive output off disables the servo loops of all axes in the specified group and opens any associated OK contacts for all applicable motion modules in the group This action places all group axes into the
374. nstructions MAW MDW MAR MDR MAOC MDOC MGSR Execution Conditions ccccccececcececeeees 208 MGSK Error Codes sree Perea ieee neta mike tts 209 MGSR Changes to Status Bits os nck cicids tacusuen gene de ates 209 MGSR Example ictus te coo varreterteagiyahiatepoiveakgaauaes 209 Motion Group Strobe Position MGSP 0 ee eee eee eee eee 210 Operands errio cai adie ee ey 210 Description iei eins nek by parece ae amet A 211 Arithmetic Status Flags earn ive pasa sad Weed cee sa 88 211 Fault Conditions cxaconcnity Sidducinniee wateene aire wea ama 211 MGSP Execution Conditions cece cece cence cence 212 NMGSP Frror Codesnawetecusahics inietoss baleooe ae eek oes 213 MGSP Changes to Status Bits cic a canrsorin a tntiatantatewadtans 213 MGSP Example iu vie vet ctitet eb vied edi eee Lede 213 Chapter 4 Motion Arm Watch WIA W 34553 iadeneadudhameeercenet 216 Operands i careless eae OEE 216 Description paiete erinin saya ce ge mnne T 218 Arithmetic Status Flags digest ee nntensaks oradse deans raccee 219 Fault Conditions hey daecaeinaee othr era eee ama 219 MAW Execution Conditions 0cccccececcucuceeees 220 MAW Error Ood es ic eri Oe Geta ta Mowers gasses 222 E E E E A A E E OET TE EE E T E EE 222 MAW Changes to Status Bits susuuusrseursrrerrrrrrrrn 222 MAW Example peren redan eaa EE E A RE aA 222 Motion Disarm Watch MDW e255 028bs se ncaeasienngd eteeeees 223 Operands
375. nstructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Command position is the desired or commanded position of a servo as generated by any previous motion instructions Actual position is the current position of a physical or virtual axis as measured by the encoder or other feedback device Position error is the difference between these two and is used to drive the motor to make the actual position equal to the command position This figure shows the relationship of these three positions Position Error if Command Position Actual Position Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 MRP Execution Conditions Condition Ladder Diagram Action Structured Text Action prescan The EN DN and ER bits are cleared No action taken The rung condition out is set to false rung condition in is false The EN bit is cleared if either the DN or ER bit is set N A Otherwise the EN bit is not affected The DN and ER bits are not affected The rung condition out is set to false rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes instruction execution
376. nt PC bit is set and the Watch Event Status bit in the Axis data structure is set Operands The MAW instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder Axis Motion Control Trigger Condition Position MAM Motion Arm Watch PYYI Table 85 MAW Relay Ladder Operand Description Operand Type Format Description Axis AXIS_CIP_DRIVE Tag Name of the axis to perform operation on AXIS_FEEDBACK AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Trigger condition BOOLEAN Immediate Select the watch event trigger condition 0 forward the servo module looks for the actual position to change from less than the watch position to greater than the watch position 1 reverse the servo module looks for the actual position to change from greater than the watch position to less than the watch position Position REAL Immediate or Tag The new value for the watch position 216 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 Structured Text MAW Axis MotionControlTriggerCondition Position The operands are the same as those for the relay ladder MAW instruction Enter your selection for the operands that require you to select from available options This Operand Has these options which y
377. nt instruction see page 369 An instruction uses parenthesis to contain its operands instruction operand Depending on the instruction there can be zero one or multiple operands instruction operand1 operand2 operand3 When executed an instruction yields one or more values that are part of a data structure Terminate the instruction with a semi colon Even though their syntax is similar instructions differ from functions in that instructions cannot be used in expressions Functions can only be used in expressions Construct A conditional statement used to trigger structured text code i e other statements IF THEN see page 370 Terminate the construct with a semi colon CASE FOR DO WHILE DO REPEAT UNTIL EXIT Comment Text that explains or clarifies what a section of structured text does comment see page 387 e Use comments to make it easier to interpret the structured text start of comment end of comment e Comments do not affect the execution of the structured text start of comment end of comment e Comments can appear anywhere in structured text Assign ments Use an assignment to change the value stored within a tag An assignment has this syntax tag expression Table 166 Syntax Descriptions Component Description tag represents the tag that is getting the new value the tag must be a BOOL SINT INT DINT or REAL is the assignment symbol expression represents the new value to assign t
378. nt NOT DINT These are some examples Use this Format Example For this Situation value operator value2 input1 and input2 Store the result in result Rockwell Automation Publication MOTION RMOO2E EN P July 2015 You d Write If input1 input2 and result are DINT tags and your specification says Calculate the bitwise result of result input1 AND input2 367 Appendix C 368 Structured Text Programming Determine the Order of Execution The operations you write into an expression are performed in a prescribed order not necessarily from left to right e Operations of equal order are performed from left to right e Ifan expression contains multiple operators or functions group the conditions in parenthesis Y This ensures the correct order of execution and makes it easier to read the expression Table 177 Operand Order of Execution Order Operation 1 2 function 3 xx 4 negate 5 NOT 6 MOD 7 subtract 8 lt lt gt gt 9 lt gt 10 amp AND 11 XOR 12 OR Rockwell Automation Publication MOTION RMO02E EN P July 2015 Structured Text Programming Appendix C Instructions Structured text statements can also be instructions See the Locator Table at the beginning of this manual for a list of the instructions available in structured text A structured text instruction executes each
379. ntifies which parameter is applicable to the following single axis motion instructions that is to MAM MAJ or MATC and the mode it is applicable in Table 137 MDSC Master Driven Speed Control Parameter Structure Parameter Instruction Mode Input Parameters Lock Direction MAM Master Driven Only MAJ MATC Lock Position MAM Master Driven Only MAJ MATC Event Distance MAM All modes Master Driven or Time Driven Instruction Mode MATC Identifies the mode of the instruction to be either Time Driven 0 or Master Driven mode 1 Output Parameter Calculated Data MAM All modes Master Driven Time Driven and Timed Based Rockwell Automation Publication MOTION RMO02E EN P July 2015 309 Chapter6 MDSC Functionality Table 138 MDSC Lock Direction Parameter Description Input Parameter Data Type Description Value Lock Direction Immediate This parameter is used for both Time Driven and Master Driven mode In master driven mode the Default 0 Lock Direction is used by the axis specified as the Master Axis in the MDAC instruction It is not 0 N used in Time Driven mode l A Eara The first word of the Lock Direction Immediate or Position enumeration definition identifies the 7 Only lock type as either Immediate lock is performed immediately Only e Position lock is performed when the Master Axis crosses the specified Lock Position 3 Position Forward The second word of the Lock Direction Forw
380. o a cam profile which is typically executed continuously To stop the axis the operating profile can be smoothly blended into a deceleration profile such that the axis stops at a known location as shown in the following figure N Accel l Operating l Decel Axis Profile i Profile Profile Position 1 p k F A Time By executing the time cam profile as a Pending cam profile while the current profile is still executing the appropriate cam profile parameters are set up ahead of time This makes the transition from the current profile to the pending profile seamless synchronization between the master time and slave axes position is maintained To ensure smooth motion across the transition however the profiles must be designed such that no position velocity or acceleration discontinuities exist between the end of the current profile and the start of the new one This is done by using the Logix Designer Cam Profile Editor Once a pending time cam instruction has been executed the new cam profile takes effect automatically and becomes the current profile when cam time passes through the end of the current profile If the current cam is configured to execute once the new profile is initiated at the completion of the pass through the current cam profile and the PC bit of the currently active MATC instruction is set If the current cam is configured to execute continuously the new profile is initiated at the compl
381. o false No action taken EN bit 0 Examine EN bit EN bit is set Instruction EN bit remains set EN bit remains set detects an error DN bit remains clear Rung condition out ER bit is set remains set to true Rung condition out remains true Rung condition out is set to true Processing runs to completion in motion task EN bit remains set Function DN bit is set complete ER bit remains clear Rung condition out is not affected EN bit remains set DN bit remains clear ER bit remains clear Rung condition out is not affected Error Codes See Error Codes ERR for Motion Instructions on page 345 46 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 MSF Changes to Status Bits Bit Name Meaning ServoActionStatus Axis is in Servo On state with the servo loop active DecelStatus Axis Drive Enable output is active Motion Status Bits Table 12 MSF Motion Status Bits Bit Name State Meaning AccelStatus FALSE Axis is not Accelerating DecelStatus FALSE Axis is not Decelerating MoveStatus FALSE Axis is not Moving JogStatus FALSE Axis is not Jogging GearingStatus FALSE Axis is not Gearing HomingStatus FALSE Axis is not Homing StoppingStatus FALSE Axis is not Stopping PositionCamStatus FALSE Axis is not Position Camming TimeCamStatus FALSE Axi
382. o the tag If Tag is This Data Type Use This Type of Expression BOOL BOOL expression SINT numeric expression INT DINT REAL ends the assignment The zag retains the assigned value until another assignment changes the value 360 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Structured Text Programming Appendix C The expression can be simple such as an immediate value or another tag name or the expression can be complex and include several operators and or functions For more information see Expressions on page 362 TIP 1 0 module data updates asynchronously to the execution of logic If you reference an input multiple times in your logic the input could change state between separate references If you need the input to have the same state for each reference buffer the input value and reference that buffer tag For more information see Logix5000 Controllers Common Procedures publication 1756 PM001 Specify a Non retentive Assignment The non retentive assignment is different from the regular assignment described in Assignments on page 360 in that the tag in a non retentive assignment is reset to zero each time the controller e enters the RUN mode e leaves the step of an SFC if you configure the SFC for Automatic reset This applies only if you embed the assignment in the action of the step or use the action to call a structured text routine via a JSR instruction A non retentive assignment has this syn
383. o_Axis Vars C Manual Jog Accel Jerk Servo_Axis Vars C Manual Jog Decel Jerk ofTime Disabled Programmed C PO Sto p_Manual_Jog AS Servo Axis Servo_Axis MI Stop Manual Jog Yes Servo_Axis Vars C Manual Jog Decel Mnitspersecd2 Yes Servo_Axis Vars C Manual Jog Decel Jerk ofTime Stop Before the SFC leaves the step stop Servo_Axis The PO qualifier limits this to the last scan of Tran_005 the step Not Jog Fwd_ PB amp Not Jog Rev PB The SFC leaves the step when both Jog_Fwd_PB or Jog_Rev_PB are off 110 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Motion Axis Move MAM Use the Motion Axis Move MAM instruction to move an axis to a specified position Operands The MAM instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder J MAM Motion Axis Move CEN Axis Motion Control CDN CER Move Type CIP LCPC Position Speed Speed Units Accel Rate Accel Units Decel Rate Decel Units Profile Accel Jerk Decel Jerk Jerk Units Merge Merge Speed Lock Position Lock Direction Event Distance Calculated Data s lt Less Table 41 MAM Relay Ladder Descriptions Operand Type Format Description Axis AXIS_CIP_DRIVE Tag Name of the axis AXIS_VIRTUAL For an Absolute or Incremental Master Offset move
384. ockwell Automation Publication MOTION RMO02E EN P July 2015 49 Chapter 1 50 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Additionally the MASD instruction supports canceling the Motion Drive Start MDS instruction This includes clearing the MDS In Process IP bit and clearing the DirectVelocityControlStatus and the DirectTorqueControlStatus bit in the Motion Status attribute This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR MASD Execution Conditions Chapter 1 Condition Ladder Diagram Action Structured Text Action Prescan The EN DN and ER bits are cleared No action taken The rung condition out is set to false Rung condition in is false The EN bit is cleared if either the DN or ER bit N A is set Otherwise the EN bit is not affected The DN and ER bits are not affected The rung condition out is set to false Rung condition in is true The instruction executes N
385. ol Motion Type Change Speed Speed Change Accel Accel Rate Change Decel Decel Rate Speed Units ol Accel Units of Maximum ol Decel Units lt lt Less Structured Text MCD Axis1 MCD_1 Move Yes 75 Yes 50 N0 0 0fmaximum ofmaximum ofmaximum f Maximum f Maximum y Rockwell Automation Publication MOTION RM002E EN P July 2015 141 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Motion Redefine Position MRP 142 Use the Motion Redefine Position MRP instruction to change the command or actual position of an axis The value specified by Position is used to update the Actual or Command position of Axis The position redefinition can be calculated on an Absolute or Relative basis If Absolute is selected the Position value is assigned to the current Actual or Command position If Relative is selected the Position value is added as a displacement to the current Actual or Command position The process of redefining the current axis position has no affect on motion in progress as the instruction preserves the current servo following error during the redefinition process As a result axis position can be redefined on the fly without disturbing axis motion Operands The MRP instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MR Motion Redefine Position Axis Motion Control MD Type Position Selec
386. olumn 1 is executed on the master axis All commands in the following table are for the master axis Table 136 Actions for the Master Axis Instruction Parameters MDAC IP Bit MGS Reset MGSD Reset MCS Stop Type Coordinated Motion Not Changed Stop Type Transform Not Changed Stop Type All Not Changed MCSD Reset MAS Any Stop Type Not Changed Jog Move Time CAM All MASD Reset MSF Not Changed MDF Not Changed Fault Action Status Only Not Changed Stop Motion Not Changed Disable DRV Not Changed Shutdown Reset If the same Master Axis is controlling multiple Slaves or a Slave Coordinate System then all MDAC or MDCC relationships that contain the Master Axis are broken The MDAC link is broken on the Master Axis when the following instructions are executed on the Master Axis e MASD MCSD and MGSD The MAS and MCS instructions for any Stop Type including All do not break the MDAC link e A mode change Rem Run to Rem Prog or Rem Prog to Rem Run or an axis fault also breaks the MDAC link 308 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 MDSC Functionality Chapter 6 Master Driven Speed Control Parameters for Single Axis Motion Instructions Before any of the MDSC parameters identified in Table 137 are used by the RSLogix 5000 instructions MAM MAJ or MATC you must execute an MDAC instruction containing the axis as a slave and it must be active This table ide
387. om false to true It resets when the rung goes from true to false DN Done Bit 29 The Done Bit sets when the slave values have been calculated successfully It resets when the rung transitions from false to true ER Error Bit 28 The Error Bit sets when the slave values have not been calculated successfully It resets when the rung transitions from false to true Description The MCSV instruction determines the slave value the slope value and the derivative of the slope for a given cam profile and master value As an extension to the position and time camming functionality it supplies the values essential for the recovery from faults during camming operations Executing the Instruction This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it executes only ona transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 193 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV MCSV Error Codes See Error Codes ERR for Motion Instructions on page 345 MCSV Extended Error Codes Extended Error Codes provide additional instructio
388. omation Publication MOTION RM002E EN P July 2015 261 Chapter5 Motion Configuration Instructions MAAT MRAT MAHD MRHD module with these new gain parameters While this instruction takes no explicit parameters input is derived from the Axis Tuning Configuration parameters as described in Tune Status Parameter on page 274 After execution of the MAAT instruction the corresponding axis should be ready for servo activation Operands The MAAT instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MAAT Motion Apply Axis Tuning Axis Motion Control N gt bow R gt Table 107 MAAT Relay Ladder Descriptions Operand Type Format Description Axis AXIS_SERVO Tag Name of the axis to perform operation on AXIS_SERVO_DRIVE Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Structured Text MAAT Axis MotionControl The operands are the same as those for the relay ladder MAAT instruction MOTION_ INSTRUCTION Structure Table 108 MAAT MOTION_INSTRUCTION Structure Descriptions Enumerations Description EN Enable Bit 31 The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN Done Bit 29 The done bit indicates when the instruction completes an apply axis tuning process ER Error Bit 28 The error bit ind
389. on 2 0 The drive s feedback 2 device detected a positive direction that is increasing counts 1 The drive s feedback 2 device detected a negative direction that is decreasing counts 2 255 reserved The value for Hookup Test Feedback 2 Direction as determined by the hookup test does not depend on the current feedback motor or motion polarity attribute configuration This value combined with the user s definition of forward direction can be used to configure the various polarity attributes for the correct directional sense 292 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Table 126 MRHD Commutation Test Parameters Axis Parameter Hookup Test Status Data Type USINT Units Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 If due to improper hookup or some other problem with the system the axis feedback fails to detect that axis reaching the configured Motor Encoder Test Increment after moving the axis at least that distance then abort the test by using the MAS instruction and check the encoder wiring Commutation Test The Commutation test only applies to PM motors This test applies current to the motor to align the rotor and check for proper phasing of a UVW encoder or Hall sensor if applicable Finally the test measures the commutation offset Definition Returns the status of the last Run Hookup Test service on the targeted drive axis The Hookup Test Status attribute can be
390. on Chart SFC e Graphical division of processes into major logic pieces e Faster repeated execution of individual pieces of your logic e Amore simple screen display e Time to design and debug your program is reduced e Troubleshooting is faster and easier e Direct access to the point in the logic where the machine faulted e Easier to enhance and update For more detailed information about how to program and use an SFC see Logix5000 Controllers Sequential Function Charts Programming Manual publication 1756 PM006 Motion instructions use three types of timing sequences Timing Type Description Immediate The instruction completes in one scan Message The instruction completes over several scans because the instruction sends messages to the servo module Process The instruction could take an indefinite amount of time to complete Immediate Type Instructions Immediate type motion instructions execute to completion in one scan If the controller detects an error during the execution of these instructions the error status bit sets and the operation ends Examples of immediate type instructions include the following e Motion Change Dynamics MCD instruction e Motion Group Strobe Position MGSP instruction Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Preface Immediate instructions work as follows 1 When the rung that contains the motion instruction becomes true the controller does the following
391. on coordinated instruction look at the extended error code EXERR It identifies which axis caused the error Example If EXERR is zero check the axis for dimension zero 8 The configured axis type is not correct Wrong Axis Type For a motion coordinated instruction look at the extended error code EXERR It identifies which axis caused the error Example If EXERR is zero check the axis for dimension zero 9 The instruction tried to execute in a direction that aggravates the current overtravel Overtravel Condition condition 10 The master axis reference is the same as the slave axis reference or the Master Axis is Master Axis Conflict also an axis in the Save Coordinate System 11 At least one axis is not configured to a physical motion module or has not been Axis Not Configured assigned to a Motion Group For single axis instructions the Extended Error code for MAG MDAC MAPC MAM MAJ MATC and MCD is defined as 1 Slave axis 2 Master Axis For the MAM MCD and MAJ instructions in time driven mode the axis being moved is a slave axis For multi axes instructions the Extended Error code for MDCC MCLM MCCM and MCCD is defined as The axis number in the coordinate system where 0 Ist axis 2 Master Axis or 3rd Slave Axis 12 Messaging to the servo module failed Servo Message Failure Rockwell Automation Publication MOTION RMOO2E EN P July 2015 345 Appendix A Error Codes ERR for Motion Instructions Table 156
392. on information added with previous revisions of this manual MOTION RM002D EN P These are the major changes made in MOTION RM002D Table 190 Summary of Changes for MOTION RM002D Topic Corrected link to disable gearing information Updated MAPC Motion_Instruction Structure Descriptions Added link for the Position based Output Control with the MAOC Instruction Application Technique publication 1756 AT017 Corrected equation in Mode Effects on an Output Bit Mode Added Tuning Configuration Bits Updated support information Updated text and formatting Corrected link to disable gearing information MOTION RM002C EN P These are the major changes made in MOTION RMO002C Table 191 Summary of Changes for MOTION RM002C Topic Motion Servo Off MSF Motion Drive Start MDS MAH Extended Error Codes MAG Extended Error Codes MCD Extended Error Codes MAPC Extended Error Codes Motion Arm Watch MAW Description Motion Arm Registration MAR Description Motion Arm Output Cam MAOC Rockwell Automation Publication MOTION RMO02E EN P July 2015 413 AppendixF History of Changes Table 191 Summary of Changes for MOTION RM002C Topic Motion Disarm Output Cam MDOC Motion Apply Hookup Diagnostics MAHD Motion Run Hookup Diagnostics MRHD MDSC Functionality Master Drive Axis Control MDAC Master Driven and Time Driven Modes Error Codes ERR for Motion Instr
393. on is activated Activating a new MDAC instruction puts the parameters programmed in the MDAC into a pending state IP bit is set on the MDAC The parameters in the pending MDAC instruction are overridden if you execute a succeeding MDAC before a new single axis motion instruction MAM MAJ and MATC is activated on the slave axis The IP bit of the old pending MDAC is cleared and the IP of the new pending MDAC is set The most recent values in the pending MDAC instruction are used when a new single axis motion instruction is activated on the Slave Axis Interaction of MDAC with Time Cams MATC A MATC with an Execution Schedule of Pending always uses the Instruction mode of the active MATC Lock Position and Lock Direction of the pending MATC are ignored This is explained further in the following example Assume that there are four instructions executed in the following order Table 131 Example MDAC with Time CAMS MATC Parameter Description MDAC1 Master X Slave Y MATC1 Slave Y Immediate MDAC2 Master Z Slave Y MDAC is executed goes IP while MATC1 is moving Master Axis is changed MATC2 Slave Y Pending MATC2 will use the parameters from MDAC Master and Slave because MATCI was moving active when MDAC2 was executed If MATC2 and MDAC2 were executed in the reverse order you get the same results This follows the existing paradigm of MAPC instruction where the pending CAM uses the same master as the running C
394. on jerk is decreased and the axis is accelerating Keep in mind however that jerk can be changed indirectly if it is specified in percent of time For more information see Analyzing Axis Motion on page 331 Executing the Instruction To successfully execute an MAH instruction on an axis configured for Active Homing mode the targeted axis must be configured as a Servo Axis Type To successfully execute an MAH instruction the targeted axis must be configured as either a Servo or Feedback Only axis The MAH instruction also applies to CIP axes configured for Feedback Only Position Loop Velocity Loop or Torque Loop operation If any of these conditions are not met the instruction errors IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it executes only ona transition See Structured Text Programming on page 359 for more information 94 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Programming Guidelines Follow these guidelines when programming an MAH
395. on or greater than the Cam End position an Illegal Output Cam error is returned and the cam element is not considered Right REAL The right cam position along with the left cam position define the cam range of the Output Cam element The right and left cam positions specify the latch or unlatch positions of the output bit when the latch or unlatch type is set to Position or Position and Enable with the enable bit active If the right position is less than the Cam Start position or greater than the Cam End position an Illegal Output Cam error is returned and the cam element is not considered Duration REAL Duration specifies the time in seconds between latching and unlatching when the Unlatch Type is Duration or Duration and Enable with the enable bit active A value less than or equal to 0 results in an Illegal Output Cam error and the cam element is not considered Enablelype DINT This defines the source and polarity of the specified Enable bit when LatchType or UnlatchType is Enable Position and Enable or Duration and Enable A value of less than 0 or greater than 31 results in an Illegal Output Cam error and the cam element is not considered Value Description 0 Input The enable bit is in the Input parameter 1 Inverted Input The enable bit is in the input parameter and is active low 2 Output The enable bit is in the Output parameter 3 Inverted Output The enable bit is in the Output parameter and is active low EnableBit DINT The value of the
396. on otherwise would error Motion Instruction FeedbaCk Only FrequenCy Control Position Loop VeloCity Loop Torque Loop No FeedbaCk Feedback No Feedback Motion Direct Drive On MDO Motion Direct Drive Off MDF z Motion Servo On MSO X Motion Servo Off MSF X X X X X Motion Axis Fault Reset MAFR X X X X X X Motion Axis Shutdown MASD X X X X X X Motion Axis Shutdown Reset MASR X X X X X X Motion Drive Start MDS Motion Arm Watch Position MAW X X X X Motion Disarm Watch Position MDW X X X X Motion Arm Registration MAR X X X X Rockwell Automation Publication MOTION RM002E EN P July 2015 389 AppendixD Motion Instructions and Integrated Motion Control Modes Table 188 Motion Instructions and the Related Control Modes Continued Motion Instruction FeedbaCk Only FrequenCy Control Position Loop VeloCity Loop Torque Loop Motion Disarm Registration MDR X X X X Motion Arm Output Cam MAOC X X X X Motion Disarm Output Cam MDOC X X X X Motion Redefine Position MRP X C X C C C Motion Axis Home MAH X X C c Motion Axis Jog MAJ C X C c Motion Axis Move MAM C X C C Motion Change Dynamics MCD C X C C Motion Axis Stop MAS X X X X X X Motion Axis Gear MAG C X C C Motion Axis Position Cam MAPC C X C C Motion Axis Time Cam MATC C X C C Motion Coordinated Line
397. onality Chapter 6 The following table shows acceptable combinations of Acceleration Units and Jerk Units when Speed Units are in Seconds Acceleration Speed in Seconds Jerk Units Units per sec Time Driven Mode Units Maximum Time Driven Mode Units Seconds Time Driven Mode Units Units per Master Units MasterUnit Master Driven Master Driven Mode Units Mode Units Units per sec Time Driven Mode Units Not Implemented Not Implemented Not Implemented Maximum Time Driven Mode Units Not Implemented ot Implemented Not Implemented of Time Time Driven Mode Units Seconds Time Driven Mode Units Not Implemented Not Implemented ot Implemented ot Implemented New Enumeration New Enumeration Incompatible combinations of Time and Master Driven mode An error occurs when you verify the routine Units per MasterUnits Master Driven Mode Units of Time Master Driven Master Driven Mode Units Master Units Master Driven Mode Units Incompatible combinations of Time and Master Driven mode An error occurs when you verify the routine Incompatible combinations of Time and Master Driven mode An error occurs when you verify the routine Rockwell Automation Publication MOTION RMOO2E EN P July 2015 321 Chapter 6 MDSC Functionality The following table shows acceptable combinations of Acc
398. ondition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 Specifying the Output Cam When you specify the Output Cam you are determining latch and unlatch type behaviors defining the range of an Output Cam element and defining the cam duration To execute a MAOC instruction a calculated Output Cam data array tag must be specified Output Cam array tags can be created by the Logix Designer tag editor or the MAOC instruction by using the built in Output Cam Editor The data defines the specifics for each Output Cam element The number of Output Cam elements is limited by the amount of available memory Zero or more cams can be defined for each output bit There is no constraint on how these elements are arranged within the Output Cam array Refer to the description of the OUTPUT_CAM structure for more information about data types and programming units IMPORTANT An anomaly occurs when the output CAM ON window positions are redefined while the output controlled by the output CAM element is active In some instances the Motion Planner can not detect the off crossing of the window and the output controlled by the output CAM element remains
399. onfiguration instructions to tune an axis and to run diagnostic tests for the servo system These tests include e a motor encoder hookup test e an encoder hookup test e a marker test e a commutation test for PM motors only e determine important motor parameters These are the motion configuration instructions Table 106 Choosing a Motion Configuration Instruction If you want to Compute a complete set of servo gains and dynamic limits based on a previously executed MRAT instruction The MAAT instruction also updates the servo module with the new gain parameters Use this instruction Motion Apply Axis Tuning MAAT Page 261 Command the servo module to run a tuning motion profile for an axis Motion Run Axis Tuning MRAT 268 Apply the results of a previously executed MRHD instruction The MAHD instruction generates a new set of encoder and servo polarities based on the observed direction of motion during the MRHD instruction Motion Apply Hookup Diagnostics MAHD 278 Command the servo module to run one of three diagnostic tests on an axis Motion Run Hookup Diagnostics MRHD 284 Languages Relay Ladder Structured Text The Motion Apply Axis Tuning MAAT instruction is used to compute a complete set of servo gains and dynamic limits based on the results of a previously run Motion Run Axis Tuning MRAT instruction and update the motion Rockwell Aut
400. onflict 96 MDAC All and MDAC something other than All on the same slave MDSC MDAC All Conflict 97 Trying to replace a running Master with a new Master whose speed is zero or MDSC Idle Master and Slave Moving replacing a Slave that is moving via an MAM with another MAM with the same or a different Master that is not moving 98 The actual direction of master axis motion does not match the direction MDSC Lock Direction Master Direction Mismatch programmed by Lock Direction parameter IMMEDIATE FORWARD ONLY or IMMEDIATE REVERSE ONLY when the slave is already moving 350 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Table 156 Motion Instruction Error Codes Descriptions Continued Error Codes ERR for Motion Instructions Appendix A Error Corrective Action or Cause Notes 99 Parameter combination not supported Feature Not Supported Performing MDCC on non Cartesian coordinate system Using Lock Position for MATC in Time Driven Mode 100 If speed is in seconds or Master units move must start from rest Axis Not At Rest 101 Return data array is either nonexistent or not big enough to store all the requested MDSC Calculated Data Size Error data 102 Attempt to activate a second MDSC instruction with a Lock Position or a Merge with MDSC Lock While Moving a Lock Position while an axis is moving 103 If the Master Axis is changed and the new slave speed is less than 5 of the original
401. ons that require SLAT control the Min Max torque control enumerations provide a feature to automatically switch to and from speed control under certain conditions In either SLAT mode the drive operates in one of the states described in this table Table 25 MDS Drive States Descriptions Enumeration Mode Description 0 SLAT disabled SLAT function is disabled This is the normal Velocity Loop operation 1 SLAT Min Speed Torque Drive automatically switches from torque control to speed control if Velocity Error gt SLAT set point and switches back to torque control if Speed Error lt 0 2 SLAT Max Speed Torque Drive automatically switches from torque control to speed control if Velocity Error lt SLAT set point and switches back to torque control if Speed Error gt 0 When you execute the MDS instruction and the drive is configured for velocity control the acceleration and deceleration ramp to the specified speed is controlled by the drives based on the Acceleration Limit and Deceleration Limit attributes The Motion Planner takes the value from the Direct Command Velocity attribute and sums it into the axis output before sending the command to the drive The most common use of this instruction is to perform a Drive Start application into a spinning motor also known as a Flying Start application Rockwell Automation Publication MOTION RMOO2E EN P July 2015 71 Chapter1 Motion State Instructions MSO MSF MASD MASR MDO
402. open 1 Ingredient_B Outlet_4 1 Otherwise all outlets closed 0 ELSE Ingredient_A Outlet_1 0 Ingredient_A Outlet_4 0 Ingredient_B Outlet_2 0 Ingredient_B Outlet_4 0 END_CASE The tells the controller to also clear the outlet tags whenever the controller Enters the RUN mode e Leaves the step of an SFC if you configure the SFC for Automatic reset This applies only if you embed the assignment in the action of the step or use the action to call a structured text routine via a JSR instruction Rockwell Automation Publication MOTION RMOO2E EN P July 2015 377 AppendixC Structured Text Programming FOR DO 378 Use the FOR DO loop to do something a specific number of times before doing anything else Operands Structured Text FOR count initial_value TO final_value BY increment DO lt statement gt END_FOR IMPORTANT Make sure that you do not iterate within the loop too many times in a single scan The controller does not execute any other statements in the routine until it completes the loop If the time that it takes to complete the loop is greater than the watchdog timer for the task a major fault occurs Consider using a different construct such as IF THEN Table 183 FOR D0 Operand Descriptions Operand Type Format Description count SINT Tag Tag to store count position as the FOR DO executes INT DINT
403. orts the following operands e Relay Ladder e Structured Text Relay Ladder MDF Motion Direct Drive Off N gt Axis D Motion Control R gt Table 21 MDF Relay Ladder Data Type Tag Operand Description Axis Name of the axis to perform operation on Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Structured Text MDF Axis MotionControl The operands are the same as those for the relay ladder MDF instruction MOTION_INSTRUCTION Structure Table 22 MDF Structured Text Enumerations Description EN Enable Bit 31 It is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 It is set when the axis drive signals have been successfully disabled and the drive enable status bit is cleared ER Error Bit 28 It is set to indicate that the instruction detected an error such as if you specified an unconfigured axis Rockwell Automation Publication MOTION RMOO2E EN P July 2015 65 Chapter 1 66 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Description For motion modules with an external servo drive interface for example the 1756 M02AE the MDF instruction directly disables the motion module Drive Enable output of the specified physical axis and also zeroes the modules servo output to the externa
404. oting and applications for the Kinetix 6200 and Kinetix 6500 servo drive systems Kinetix 350 Single axis EtherNet IP Servo Drives User Manual publication 2097 UM002 Provides detailed information on wiring applying power troubleshooting and integration with ControlLogix or CompactLogix controller platforms Kinetix 6000 Multi axis Servo Drives User Manual publication 2094 UM001 Provides detailed information on wiring applying power troubleshooting and integration with ControlLogix CompactLogix or SoftLogix controller platforms Logix5000 Controllers Common Procedures publication 1756 PM001 Guides the development of projects for Logix5000 controllers It provides resource links to individual publications Motion Coordinate System User Manual publication MOTION UM002 Provides instructions on creating a motion coordinate system PowerFlex 750 Series AC Drives Programming Manual publication 750 PM001 Provides information needed to install start and troubleshoot PowerFlex 750 Series Adjustable Frequency AC Drives PowerFlex 755 Drive Embedded EtherNet IP Adapter User Manual publication 750COM UM001 Provides information on installing configuring staring troubleshooting and applications for the PowerFlex 755 Drive Embedded EtherNet IP Adapter SERCOS and Analog Motion Configuration and Setup User Manual publication MOTION UMO001 Describes how to configure an integrated motion application
405. otion module to run 0 motor encoder hookup test 1 encoder hookup test 2 encoder marker test Observed direction DINT immediate Sets the direction of the test motion 0 forward 1 reverse Rockwell Automation Publication MOTION RM002E EN P July 2015 Structured Text Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 MAHD Axis MotionControl DiagnosticTest ObservedDirection The operands are the same as those for the relay ladder MAHD instruction Enter your selection for the operands that require you to select from available options Table 116 MAHD Structured Text Operands This Operand Diagnosticlest Has These Options Which You Enter as Text motor_encoder encoder marker Or Enter as a Number ObservedDirection forward reverse MOTION_INSTRUCTION Structure Table 117 MAHD MOTION_INSTRUCTION Structure Descriptions N O Enumerations Description EN Enable Bit 31 Set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 Set after the hookup test apply process has been successfully executed ER Error Bit 28 Set to indicate that the instruction detected an error such as if you specified an unconfigured axis Rockwell Automation Publication MOTION RMOO2E EN P July 2015 279 Chapter 5 280 Motion Configuration Instructions M
406. otion Axis Position Cam command or terminated by a stop command merge shutdown or servo fault PC Process Complete Bit 27 Itis cleared on positive rung transition and set in once Execution mode when the position of the master axis leaves the master position range defined by the currently active cam profile Description The Motion Axis Position Cam MAPC instruction provides electronic camming between any two axes according to the specified cam profile The direction of Slave Axis motion relative to the Master Axis is defined by a flexible Direction input parameter To accurately synchronize the slave axis position to master axis position an Execution Schedule setting and an associated Master Lock Position can be specified for the master axis When the master axis travels past the Master Lock Position in the direction specified by the Execution Schedule parameter the slave axis is locked to the master axis position according to the specified Cam Profile beginning at the Cam Lock Position The cam profile can also be configured to execute Immediately or Pending completion of a currently executing position cam profile via the Execution Schedule parameter The cam profile can be executed once continuous or in a persistent mode by specifying the desired Execution mode The Master Reference selection allows camming input from the master to be derived from either the Actual or Command position of the Master Axis To support
407. otion Drive Start MDS instruction the Direct Command feature is disabled Additionally the affected axis decelerates to a stop by using its ramp deceleration is immediately shutdown Hard Shutdown For an axis configured for a Hard Shutdown the MGS instruction initiates the equivalent of an Motion Axis Shutdown MASD instruction to the axis This action turns the appropriate axis drive output orf disables the servo loop opens any associated motion module OK contacts and places the axis into the Shutdown state Depending on the drive configuration this can result in the axis coasting to a stop but offers the quickest disconnect of Drive power via the OK contacts To successfully execute a MGS instruction the targeted group must be configured When a Hard Shutdown is used to stop a Motion Drive Start MDS instruction the Direct Command feature is disabled Additionally the affected axis is immediately shutdown The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed In addition to the ways the various stopping modes affect the Motion Drive Start MDS instruction were described in the previous table all these modes also clear the MDS In Process IP bit and clear the DirectVelocityControlStatus bit in the Motion Status attribute Executing the Instruction This is a t
408. ou enter as text or enter as anumber forward reverse MOTION_INSTRUCTION Structure TriggerCondition Table 86 MAW MOTION_INSTRUCTION Structure Descriptions Enumerations Description EN Enable Bit 31 It is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 It is set when the axis watch event checking has been successfully armed ER Error Bit 28 It is set to indicate that the instruction detected an error such as if you specified an unconfigured axis IP In Process Bit 26 It is set on positive rung transition and cleared after the watch event has occurred or has been superseded by another Motion Arm Watch or terminated by a Motion Disarm Watch command PC Process Complete Bit 27 It is set when a watch event occurs Rockwell Automation Publication MOTION RMOO2E EN P July 2015 217 Chapter 4 218 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Description The MAW instruction sets up a Watch Position event to occur when the specified physical axis reaches the specified Set point position as shown in Figure 18 Figure 18 Set Point Position Setpoint Position SH Axis Position 1 a ae 0 Watch_Pos_status Watch Watch Position Position Event Event Set Up Occurs Watch Position events are useful for synchronizing an operation
409. ou specified an unconfigured axis Rockwell Automation Publication MOTION RMOO2E EN P July 2015 75 Chapter 1 76 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Description The MAFR instruction directly clears the specified fault status on the specified axis It does not correct the condition that caused the error If the condition is not corrected prior to executing the MAFR instruction the axis could immediately fault again giving the appearance that the fault status was not reset This instruction is most commonly used as part of a fault handler program which provides application specific fault action in response to various potential motion control faults Once the appropriate fault action is taken the MAFR instruction can be used to clear all active fault status bits To successfully execute a MAFR instruction the targeted axis must be configured as either a Servo or Feedback Only axis Otherwise the instruction errors The MAFR instruction is a procedure type command that is processed from the Logix controller through the sercos module and to the associated drives For applications using a Logix controller with the Logix Designer application version 13 and earlier the DN bit of the instruction was set when the sercos module acknowledged the procedure request The drives acknowledged the command and processed it quickly To the user the DN bit operation appeared to indicate the successful comple
410. oup Stop MGS 196 of axes Force all axes in a group into the Motion Group Shutdown MGSD 202 shutdown operating state Transition a group of axes from the Motion Group Shutdown Reset MGSR 206 shutdown operating state to the axis ready operating state Latch the current command and Motion Group Strobe Position MGSP 210 actual position of all axes in a group Rockwell Automation Publication MOTION RMO02E EN P July 2015 Languages Relay ladder Structured text 195 Chapter3 Motion Group Instructions MGS MGSD MGSR MGSP Motion Group Stop MGS 196 The Motion Group Stop MGS instruction initiates a stop of all motion in progress on all axes in the specified group by a method configured individually for each axis or as a group via the Stop Mode of the MGS instruction Ifthe MGS Stop Mode is specified as Programmed each axis in the group is stopped according to the configured Programmed Stop Mode axis attribute This is the same stopping mechanism that is employed by the Logix Operating System when there is a Logix controller state change This Programmed Stop Mode attribute currently provides five different methods of stopping an axis e Fast Stop e Fast Disable e Hard Disable e Fast Shutdown e Hard Shutdown Alternatively an explicit Stop Mode can be selected by using the MGS instruction If a Stop Mode of Fast Disable is selected all axes in the group stop with Fast Disable behavior When the
411. ous versions Executing the Instruction IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions MASR Execution Conditions Condition Prescan Ladder Diagram Action The EN DN and ER bits are cleared The rung condition out is set to false Structured Text Action No action taken Rung condition in is false Rung condition in is true The EN bit is cleared if either the DN or ER bit is set Otherwise the EN bit is not affected The DN and ER bits are not affected The rung condition out is set to false The instruction executes The rung condition out is set to true 56 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 N A N A Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 Condition Ladder Diagram Action Structured Text Action Enableln N A Ena
412. ove Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Use the Motion Axis Jog MAJ instruction to move an axis at a constant speed until you tell it to stop Operands The MAJ instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MAJ Motion Axis Jog CEN Axis Motion Control CDN Direction CER Speed CIP Speed Units Accel Rate Accel Units Decel Rate Decel Units Profile Accel Jerk vg Decel Jerk P Jerk Units Merge Merge Speed Lock Position Lock Direction lt lt Less Table 37 MAJ Relay Ladder Operand Descriptions Operand Type Format Description Axis AXIS_CIP_DRIVE Tag Name of the axis to jog AXIS_VIRTUAL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Motion Control MOTION_INSTRUCTI Tag Control tag for the instruction ON Direction DINT Immediate For This Jog Direction Enter Tag Forward 0 Reverse 1 Speed REAL Immediate Speed to move the axis in Speed Units Tag Speed Units DINT Immediate Which units do you want to use for the Speed 0 Units per sec 1 of Maximum 2 Units per MasterUnit Rockwell Automation Publication MOTION RM002E EN P July 2015 99 Chapter 2 Table 37 MAJ Relay Ladder Operand Descriptions Continued Operand Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Type Format Descri
413. overlap fault CSTLossFault 01 DINT The controller has lost synchronization with the CST master GroupTaskLoadingFault 02 DINT The group coarse update period is too low user application tasks are not getting enough time to execute Reserved 03 31 AxisFault DINT The fault bits for the axis Bit Number Data Type Description PhysicalAxisFault 00 DINT A Servo or Drive fault has occurred ModuleFault 01 DINT A serious fault has occurred with the motion module associated with the selected axis Usually affects all axes associated with the motion module ConfigFault 02 DINT One or more axis attributes associated with a motion module or drive has not been successfully updated to match the value of the corresponding attribute of the local controller Reserved 03 31 Rockwell Automation Publication MOTION RM002E EN P July 2015 355 Appendix B Motion related Data Types Structures MOTION INSTRUCTION You must define a motion control tag for each motion instruction that you use Data Type The tag uses the MOTION_INSTRUCTION data type and stores status information about the instruction Table 162 MOTION_INSTRUCTION Data Type Descriptions Enumerations Data Type Description FLAGS DINT Use this DINT to access all the status bits for the instruction in one 32 bit value For this status bit Use this bit number EN 31 DN 29 ER
414. owing graphic Electronic Gearing Slave Axis Command Position Master Axis Command Position Master Slave Gear Ratio Command position valid only when the master axis Axis Type is configured as Servo is the current desired or commanded position for the master axis Rockwell Automation Publication MOTION RMOO2E EN P July 2015 127 Chapter 2 128 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Because the command position does not incorporate any associated following error external position disturbances or quantization noise it is a more accurate and stable reference for gearing When gearing to the command position of the master the master axis must be commanded to move to cause any motion on the slave axis Specifying a Gear Ratio There are two types of gear ratios real number and fraction Real Number Gear Ratios When Ratio Format is selected or entered as Real the gear ratio is specified as a real number or tag variable with a value between 0 00001 and 9 99999 inclusive representing the desired ratio of slave axis position units to master axis position units A gear ratio expressed this way is easy to interpret because it s defined in the axes configured position units Fraction Gear Ratios When Ratio Format is selected or entered as Fraction the gear ratio is specified as a pair of integer numbers or tag variables representing the ratio between th
415. p encoder hookup marker hookup and motor commutation During some of these test processes the motion module generates output to the external drive to produce a small amount of motion Measurements made during some of these hookup diagnostic tests are saved as output configuration parameters MRHD requires only one explicit input parameter Diagnostic Test Enter or select the Diagnostic Test to run and the axis to test If the targeted axis does not appear in the list of available axes the axis has not been configured for operation Use the Tag Editor to create and configure a new axis Rockwell Automation Publication MOTION RMOO2E EN P July 2015 289 Chapter5 Motion Configuration Instructions MAAT MRAT MAHD MRHD Table 123 MRHD Axis Parameter Descriptions Axis Parameter Data Type Hookup Test Status USINT Units The MRHD instruction uses the CIP axis configuration parameters as input and output The input configuration parameters that the MRHD uses are shown in the following table Axis Parameter Data Type Units Definition Hookup Test Distance Real Position Distance that the axis must travel to satisfy the selected Units hookup test process Hookup Test Time Real Seconds Time that the axis must continue moving to satisfy the selected hookup test Hookup Test Feedback USINT Used by the Hookup Test service when the encoder test Channel is selected to determine which feedback channel to test 1 Feedback 1 2
416. perational cam profile reaches the last point in its table At this point the pending cam profile table goes into operation Alternatively the MAPC instruction s execution can be deferred pending completion of a currently executing position cam An Execution Schedule selection of Pending can thus be used to seamlessly blend two position cam profiles together without stopping motion As with the continuous mode of operation the blending points should not have large value differences Large differences can result in dramatic acceleration and deceleration changes Blending points are the start and end points for the continuous cam profile In other words the points are the last point of the operating cam profile and first point of pending cam profile The Pending execution feature is particularly useful in applications like high speed packaging when a slave axis must be locked onto a moving master axis and accelerate by using a specific profile to the proper speed When this acceleration profile is done it must be smoothly blended into the operating profile which is typically executed continuously To stop the slave axis the operating profile is smoothly blended into a deceleration profile such that the axis stops at a known location as shown in graphic Pending Cam Execution Rockwell Automation Publication MOTION RMO02E EN P July 2015 167 Chapter 2 168 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC
417. position When Pending is selected the following parameters are ignored Output Input Axis Arm Position and Reference 2 Forward only Output Cam is armed when the axis approaches or passes through the specified axis arm position in the forward direction 3 Reverse only Output Cam is armed when the axis approaches or passes through the specified axis arm position in the reverse direction 4 Bidirectional Output Cam is armed when the axis approaches or passes through the specified axis arm position in either direction Axis Arm Position SINT INT DINT or REAL Immediate or Tag This defines the axis position where the Output Cam is armed when the Execution Schedule is set to Forward Only Reverse Only or BiDirectional and the axis moves in the specified direction If Pending is selected as the Execution Schedule then Axis Arm Position is ignored Changes to the axis arm or cam arm position only take effect after the execution of an MAOC instruction Cam Arm Position Reference SINT INT DINT or REAL DINT Immediate or Tag Immediate This defines the cam position associated with the axis arm position when the Output Cam is armed Sets whether the Output Cam is connected to either Command position or Actual position of the axis If Pending is selected as the Execution Schedule then Reference is ignored 0 Actual The current position of the axis as measured by its encoder or other feedba
418. ption Accel Rate REAL Immediate Tag Acceleration rate of the axis in Accel Units Accel Units DINT Immediate Which units do you want to use for the Accel Rate 0 Units per sec 1 of Maximum 2 Units per MasterUnit2 Decel Rate REAL Immediate Tag Deceleration rate of the axis in Deceleration Units Decel Units DINT Immediate Which units do you want to use for the Decel Rate 0 Units per sec 1 of Maximum 2 Units per MasterUnit2 Profile DINT Immediate Select the velocity profile to run the jog 0 Trapezoidal 1 S curve Accel Jerk Decel Jerk REAL REAL Immediate Tag Immediate Tag Jerk Units DINT Immediate You must always enter values for the Accel and Decel Jerk operands This instruction only uses the values if the Profile is configured as S curve e Accel Jerk is the acceleration jerk rate for the axis e Decel Jerk is the deceleration jerk rate for the axis Use these values to get started e Accel Jerk 100 of Time e Decel Jerk 100 of Time e Jerk units 2 Enter the jerk rates in these Jerk Units 0 Units per sec 1 of Maximum 2 of Time use this value to get started 3 Units per MasterUnit 4 of Time Master Driven Merge DINT Immediate Do you want to turn all current axis motion into a pure jog governed by this instruction regardless of the motion instructions currently in process
419. ptions Continued Error Corrective Action or Cause Notes 53 Uninhibit the axis Axis Is Inhibited For single axis instructions the Extended Error code for MAG MDAC MAPC MAM MAJ MATC and MCD is defined as 1 Slave axis 2 Master Axis For the MAM MCD and MAJ instructions in time driven mode the axis being moved is a slave axis For multi axes instructions the Extended Error code for MDCC MCLM MCCM and MCCD is defined as The axis number in the coordinate system where 0 Ist axis 2 Master Axis or 3rd Slave Axis 54 1 Open the properties for the axis Zero Max Decel 2 On the Dynamics tab enter a value for the Maximum Deceleration You cannot start motion if the maximum deceleration for the axis is zero 61 See the extended error code EXERR for the instruction Connection Conflict 62 Cancel the transform that controls this axis or don t use this instruction while the Transform In Progress transform is active You cannot execute this instruction if the axis is part of a active transform 63 Cancel the transform that controls this axis or wait until the transform is done Axis In Transform Motion moving the axis You cannot execute this instruction if a transform is moving the axis 64 Use a Cartesian coordinate system Ancillary Not Supported You cannot use a non Cartesian coordinate system with this instruction 65 The axis moved too far and the controller cannot store the position
420. r Code see Topic Template No TOC on ExErr 3 Duty cycle less than 0 or greater than 100 and the mode is set to page 36 Pulsed or Inverted and Pulsed With the ability to dynamically modify the Output Cam table the Illegal Output Cam error 36 can occur while the MAOC is in process In general the cam elements where an error was detected will be skipped The following are exceptions and will continue to be processed e Error 2 Latch Type Invalid Latch Type defaults to Inactive Error 3 Unlatch Type Invalid Unlatch Type defaults to Inactive e Error 8 with Unlatch Type of Duration and Enable Will behave as an Enable Unlatch type 38 The axis data type is illegal It is incorrect for the operation Illegal Axis Data Type For a motion coordinated instruction look at the extended error code EXERR It identifies which axis caused the error Example If EXERR is zero check the axis for dimension zero 39 You have a conflict in your process Test and Tune cannot be run at the same time Process Conflict 40 You are trying to run a MSO or MAH instruction when the drive is locally disabled Drive Locally Disabled 41 The Homing configuration is illegal You have an absolute homing instruction when Illegal Homing Configuration the Homing sequence is not immediate 42 The MASD or MGSD instruction has timed out because it did not receive the Shutdown Status Timeout shutdown status bit Usually a programmatic problem caused when either M
421. r Units Lock Direction DINT Immediate Specifies when the Master Lock Position should be used 0 None 1 Immediate Forward Only 2 Immediate Reverse Only 3 Position Forward Only 4 Position Reverse Only Event Distance REAL Immediate Tag array where Event Distance is specified 0 Default not used or 0 0 is not an array but a constant for both event distance or calculated data Calculated Data REAL Immediate Tag array where event Calculated Data is specified Default 0 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 113 Chapter 2 Velocity 114 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Structured Text MAM Axis MotionControl MoveType Position Speed SpeedUnits AccelRate AccelUnits DecelRate DecelUnits Profile AccelJerk DecelJerk JerkUnits Merge MergeSpeed LockPosition LockDirection EventDistance CalculatedData The operands are the same as the relay ladder instruction See Table 41 MAM Relay Ladder Descriptions on page 111 MAM MOTION_INSTRUCTION Structure Table 42 MAM Motion_Instruction Enumeration Descriptions Enumeration Description EN Enable Bit 31 A false to true transition caused the instruction to execute The EN bit stays set until the process is complete and the rung goes false DN Done Bit 29 The move was successfully initiated ER Error Bit 28
422. r axes however a different motion type must be used for each axes For example both X and Y can not be the master for the MAM motion type of Z If X and Y are both the Master axes and Z is a Slave axis then X can be assigned to be the Master axis for MAM instructions for Z Y can be assigned to be the Master axis for MAJ instructions for Slave Z Table 133 Assign the same Slave to Different Masters Instruction Description MDAC Move MAM Master X Slave Y assigns master and slave axes MDAC Move ALL Master Z Slave Y or causes an error because the previous MDAC assigned the any other axis MAM to the Y axis The MDAC mode becomes enabled once the MDAC instruction is executed The MDAC mode becomes active after being enabled and a motion instruction with the MDAC speed unit selection is executed If there is an active MDAC All on a Slave then setting the MDAC instruction to a Motion Type other than All causes a runtime error To reassign the Master once anything other than the All option is used you must execute any of the following e On the Slave Axis MAS All MCS All MGS MASD MCSD or MGSD e On the Master Axis MASD MCSD or MGSD If you assign the same axis to be both a Master and a Slave Axis an RSLogix 5000 software verification error is generated Figure 35 Master and Slave Relationship MA M we You can change the Master Axis for an active Slave which is in motion by executing a MDAC fo
423. r equal to length you are done counting Rockwell Automation Publication MOTION RMOO2E EN P July 2015 365 AppendixC Structured Text Programming How Strings are Evaluated The hexadecimal values of the ASCII characters determine if one string is less than or greater than another string e When the two strings are sorted as in a telephone directory the order of the strings determines which one is greater ASCII Characters Hex Codes lab 31 61 62 A fe 31562 A 41 e e a AB 41 42 AB lt B t B 42 S e al e r a 61 a gt B r Y ja 61562 e Strings are equal if their characters match e Characters are case sensitive Upper case A 41 is not equal to lower case a 61 Use Logical Operators Logical operators let you check if multiple conditions are true or false The result of a logical operation is a BOOL value If The Comparison is The Result is true false 0 Use these logical operators Table 173 Logical operators For Use this Operator Data Type logical AND amp AND BOOL logical OR OR BOOL logical exclusive OR XOR BOOL logical complement NOT BOOL 366 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Table 174 Logical Operator Example Situations These are some examples Structured Text Programming Appendix C Use this format Example For This Situation You d Write BOOLtag If
424. r expression that evaluates to a BOOL value Expression Description This is the syntax WHILE bool_expression DO lt statement gt lt _ ______ Statements to execute while bool_expression1 is true optional IF bool_expression2 THEN EXIT lt q _ __ there are conditions when you want to exit the loop early use other statements such as an IF THEN END_IF construct to condition an EXIT statement END_WHILE Rockwell Automation Publication MOTION RMOO2E EN P July 2015 381 AppendixC Structured Text Programming These diagrams show how a WHILE DO loop executes and how an EXIT statement leaves the loop early lad BOOL expression us true statement 1 statement 2 statement 3 statement 4 v rest of the routine While the bool expression is true the controller executes only the statements within the WHILE DO loop false lad BOOL expression true statement 1 statement 2 statement 3 statement 4 Exit yes KT To stop the loop before the conditions are true use an EXIT statement v rest of the routine Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions A major fault will occur if the construct loops are too long The fault type is 6 and the fault code is 1 Example 1 If You Want This The WHILE DO loop evaluates its conditions first If the conditions are true the controller then executes the statements within the loop This diffe
425. r factory default values that is resets all active faults The drive then waits for the controller to establish connections to it Once connections are established the controller sets configuration attributes in the drive to values stored in the controller If the drive supports synchronous operation the controller then synchronizes with the drive Once this process has been completed successfully the drive and all its associated axis instances transition to the Pre charge state If a problem is found during the initializing process an Initialization Fault is generated An Initialization Fault is an unrecoverable fault You can only clear the fault can via a power cycle or a drive reset If the connection to the drive closes for any reason during operation the drive returns to the Initializing State Pre charge The drive is waiting for the DC Bus to fully charge that is the DC Bus Up status bit is cleared Once the DC Bus reaches an operational voltage level that is DC Bus Up status bit is set the axis transitions to the Stopped state The drive s power structure is always disabled in this state that is the Power Structure Enabled status bit is cleared Any attempt to enable the drive via the Axis Control mechanism while in this state is reported back to the controller as an error in the Response Status and the axis remains in the Pre charge state Stopped In the Stopped state the drive s inverter power structure should either be di
426. r the Slave with a different Master 302 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 MDSC Functionality Chapter 6 However If the same motion type is assigned to two different masters an error will result for example both X and Y can not be the master for the MAM motion type of Z then the new MDAC instruction is put in a queue for the slave and will become active the next time a motion instruction with the MDSC unit selection with this master becomes active in either Replacement or Merge mode Table 134 Switching Master Axes Instruction Description MDAC Motion Type MAM Master X Assigns master and slave axes Slave Z MAM X Start MAM motion on master 1 MAM Z Start MAM motion on the slave using master 1 MAM Y Start MAM motion on the Y axis that is on the future master 2 MDAC Motion Type MAM Master Y Assign Y to be the future pending Master axis Slave Z MAM Z Start new MAM motion on the slave Y will be the master for the new motion EXAMPLE The MDAC mode becomes enabled once the MDAC instruction is executed The MDAC mode becomes active after being enabled and a motion instruction with the MDAC speed unit selection is executed If there is an active MDAC All on a Slave then setting the MDAC instruction to a Motion Type other than All causes a runtime error To reassign the Master once anything other than the All option is used you must execute any of the following e On the Slave Ax
427. ransitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 199 Chapter3 Motion Group Instructions MGS MGSD MGSR MGSP MGS Execution Conditions Condition Ladder Diagram Action Structured Text Action prescan The EN DN ER IP and PC bits are cleared No action taken The rung condition out is set to false rung condition in is false The EN bit is cleared if either the DN or ER bit is set N A Otherwise the EN bit is not affected The DN ER IP and PC bits are not affected The rung condition out is set to false rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes instruction execution See the following figure postscan The rung condition out is set to false No action taken Examine EN bit EN bit 0 ENbitis set EN bit 1 Instruction EN bit remains set EN bit remains set A
428. ration is decreased while the move is decelerating or is close to the deceleration point An S curve velocity profile can overshoot if one of these occurs e Maximum deceleration is decreased while the move is decelerating or close to the deceleration point e Maximum acceleration jerk is decreased and the axis is accelerating Keep in mind however that jerk can be changed indirectly if it is specified in of time For more information see Analyzing Axis Motion on page 331 Executing the Instruction This is a transitional instruction e In relay ladder toggle the rung condition each time you want to execute the instruction e In structured text instructions execute each time they are scanned See Structured Text Programming on page 359 for more information Condition the instruction so that it only executes on a transition Use either of these methods Qualifier of an SFC action Structured text construct Programming Guidelines Follow these guidelines when programming an MAJ instruction TIP If the Master axis is moved manually while the Master axis was in a disabled state the actual position of the slave axis continues to track the Master s position regardless whether the MasterReference of the MAPC instruction is set to Actual or Command Rockwell Automation Publication MOTION RMOO2E EN P July 2015 103 Chapter 2 104 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC
429. rce can be actual position or command position of the master axis Smoother motion is derived from command position but in some cases for example when a physical axis is not controlled by a ControlLogix motion module actual position is the only practical option Slaving to the Actual Position When Actual Position is entered or selected as the Master Reference source the slave axis motion is generated from the actual position of the master axis as shown in Figure 13 Figure 13 Slaving to the Actual Position Master Axis Actual Position Slave Axis Position Cam Profile Command Position Master Position Rockwell Automation Publication MOTION RMO02E EN P July 2015 169 Chapter 2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV 170 Actual position is the current position of the master axis as measured by its encoder or other feedback device This is the default selection and the only selection when the master Axis Type is configured as Feedback Only because it is often necessary to synchronize the actual positions of two axes Slaving to the Command Position When Command Position is entered or selected as the Master Reference source the slave axis motion is generated from the command position of the master axis as shown in Figure 14 Figure 14 Slaving to the Command Position 7 Master Axis N Command Position Slave Axis Command Position Position Lock Cam
430. rder sercos MRHD Changes to Status Bits Meaning e The axis is in the drive control state DriveEnableStatus TRUE The drive enable output is active while the tuning profile is running TestStatus TRUE The axis is running a testing process MRHD Example When the input conditions are true the controller runs the encoder diagnostic test on axisl Relay Ladder RHD Motion Run Hookup Diagnostics Axis Axis E Motion Control MRHD_1 Diagnostic Test Marker Structured Text MRHD Axis1 MRHD_1 Marker Rockwell Automation Publication MOTION RM002E EN P July 2015 Master Driven Axis Control MDAC Chapter 6 MDSC Functionality The Master Driven Speed Control MDSC function provides the ability to synchronize one or more motion axes to a common Master Axis The MDSC uses the Motion Master Driven Axis Control MDAC instruction which assigns a Master Slave relationship for single axes The MDSC function provides synchronization of axes without the use of CAM profiles The MDSC functions can also be used with Time Driven CAM profiles MATC to make them act like position driven profiles synchronized with a Master Axis The Master Driven Axis Control MDAC instruction assigns a Master Slave relationship for a single axes Operands The MDAC instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MDAC Motion Master Driven Axis Control EN Sla
431. rection same or opposite This is useful when the current direction is not known or not important For first time execution of a cam with Unchanged selected the control defaults the direction to Same Cam Profile CAM_PROFILE Array Tag name of the calculated cam profile array Only the zero array element 0 is allowed for the Cam Profile array Ellipsis launches Cam Profile Editor Distance Scaling REAL Immediate Tag Scales the total distance covered by the axis through the cam profile Time Scaling REAL Immediate Tag Scales the time interval covered by the cam profile Execution Mode DINT Immediate Determines how the cam motion behaves when the time moves beyond the end point of the cam profile Execution Modes of Once or Continuous can be selected to determine how the cam motion behaves when the time moves beyond the end point of the profile defined by the original cam table The options are 0 Once When the time cam execution time exceeds the time range in the cam profile the MATC instruction completes the axis motion stops and the Time Cam Status bit is cleared If Once is selected default the cam profile motion of the axis starts immediately When the time cam execution time exceeds the time range defined by the cam profile the MATC instruction completes axis motion stops and the Time Cam Status bit in the slave axis Motion Status word is cleared 1 Continuous The
432. red the drive display shows that it is STOPPED but the drive is still enabled Bus LED is solid and the drive is still holding position The drive cannot be disabled with an MSF command and MASR has no effect The only way to disable the drive is to issue an MASD command or to change the stopping action to Disable and Coast The axis stopping behavior varies depending upon the type of drive In some cases the axis coasts to a stop and in other cases the axis decelerates to a stop by using the drive s available stopping torque Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 Executing the Instruction To execute an MSF instruction successfully the targeted axis must be configured as a Servo axis If this condition is not met the instruction errs If you have an Axis Type of Virtual the instructions errors because with a Virtual Axis the servo action and drive enable status are forced to always be true A Consumed axis data type also errors because only the producing controller can change the state of a consumed axis IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed Additionally the MSF instruction supports canceling the Motion Drive Start MDS instruction This includes
433. ring axis motion faults IMPORTANT The MAFR instruction removes the fault status but does not perform any other recovery such as enabling servo action In addition when the controller removes the fault status the condition that generated the fault s can still exist If the condition is not corrected before using the MAFR instruction the axis immediately faults again Operands The MAFR instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MAFR Motion Axis Fault Reset Axis Motion Control 799 Table 27 MAFR Relay Ladder Operand Descriptions Operand Type Format Description Axis AXIS_CIP_DRIVE Tag Name of the axis to perform operation on AXIS_ FEEDBACK AXIS_VIRTUAL AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Structured Text MAFR Axis MotionControl The operands are the same as those for the relay ladder MAFR instruction MOTION_INSTRUCTION Structure Table 28 MAFR Structure Descriptions Enumerations Description EN Enable Bit 31 It is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 It is set when the axis faults have been successfully cleared ER Error Bit 28 It is set to indicate that the instruction detected an error such as if y
434. rol The operands are the same as those for the relay ladder MGSR instruction MOTION_INSTRUCTION Structure Table 81 MGSR MOTION_INSTRUCTION Structure Descriptions Enumerations Description EN Enable Bit 31 The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN Done Bit 29 The done bit indicates when the instruction resets the group of axes from the shutdown operating state ER Error Bit 28 The error bit indicates when the instruction detects an error such as if messaging to the servo module failed Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Group Instructions MGS MGSD MGSR MGSP Chapter 3 Description The MGSR instruction takes all the axes in the specified group out of the Shutdown state by clearing all axis faults and closing any associated OK solid state relay contacts for the motion modules within the group This action places all axes within the motion group in the Axis Ready state Just as the Motion Group Shutdown MGSD instruction forces all the axes in the targeted group into the Shutdown state The MGSR instruction takes all the axis in the specified group out of the Shutdown state and into the Axis Ready state One of the unique characteristics of the Shutdown state is that if supported the OK solid state relay contact for each of the group s motion modules is Open
435. ror Codes See Error Codes ERR for Motion Instructions on page 345 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 237 Chapter 4 238 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC MDR Extended Error Codes Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions The following Extended Error Codes help to pinpoint the problem when the MDR instruction receives a Servo Message Failure 12 error message Table 94 MDR Extended Error Code Descriptions Associated Error Code decimal Extended Error Code Meaning decimal SERVO_MESSAGE_FAILURE 12 Invalid value 3 Registration input provided is out of range Extended Error Codes for the Parameter Out of Range 13 error code work a little differently Rather than having a standard enumeration the number that appears for the Extended Error code refers to the number of the operand as they are listed in the faceplate from top to bottom with the first operand being counted as zero Therefore for the MDR instruction an extended error code of 2 would refer to the Input Number operand s value You would then have to check your value with the accepted range of values for the instruction MDR Changes to Status Bits Bit Name Meaning RegEventArmedStatus FALSE The axis is not looking for a registration event RegEventStatus FALSE The previous registration event is cleared
436. rray indices correspond to the output bit numbers Compensation The minimum size of an array is determined by the highest compensated output bit For more information see Specifying Output Compensation on page 248 240 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 Table 95 MAOC Relay Ladder Operand Descriptions Continued Operand Type Format Description Execution Mode DINT Immediate Depending on the selected execution mode the Output Cam behavior can differ when the cam position moves beyond the cam start or cam end position The options are 0 Once Output Cam is disarmed and the Process Complete Bit of the Motion Instruction is set when the cam position moves beyond the cam start or the cam end position 1 Continuous Output Cam continues on the opposite side of the Output Cam range when the cam position moves beyond the cam start or the cam end position 2 Persistent Output Cam disarms when the cam position moves beyond the cam start or the cam end position The Output Cam is rearmed when the cam position moves back into the Output Cam range Execution Schedule DINT Immediate Selects when to arm the Output Cam The options are 0 Immediate Output Cam is armed at once 1 Pending Output cam is armed when the cam position of a currently executing Output Cam moves beyond its cam start or cam end
437. rror 78 Error 78 Error 78 MAJ Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 MAM Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 MAG Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 MCD Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 78 Error 78 Error 78 MAPC Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 MATC Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 MDO Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 MCT Error 78 Error 78 Error 78 Error 7 Error 61 Error 61 Error 61 Error 61 ExErr Error 61 ExErr ExErr 10 ExErr 10 ExErr 10 10 10 MCCD Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 MCLM MCCM Merge Disabled Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 78 Error 78 MCLM MCCM Merge Enabled Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 78 Table 158 Additional Generated Errors in Overlap Instances Active Stopping Instruction MGS MGSD MCS MAS MASD Initiated Second Stop Type Stop Mode Fast Stop Mode StopMode None Stop Type All Stop Type All None Instruction Stop Fast Disable Programmed Stop Mode Fast Stop Error 78 Error 78 Error 78 Error 7 MGS Stop Mode Fast Disable Error 78 Error 78 Error 78 Error 7 Stop Mode Programmed Error 78 Error 78 Error 78 Error 7 MGSR None Error 78 Error 78 Error 78 Error 7 Error 7 Stop Type Coordinated Move E
438. rror 78 Error 78 Error 78 Error 7 Error 78 Error 78 MCS Stop Type Coordinated Transform Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 All Stop Types Except Stoplype All Error 78 Error 78 Error 78 Error 7 Stop Type All Error 78 Error 78 Error 78 Error 7 Error 78 Error 78 Error 7 is Stop Type All Error 78 Error 78 Error 78 Error 7 Error 7 MASR None Error 78 Error 78 Error 78 Error 7 Error 7 352 Rockwell Automation Publication MOTION RMO02E EN P July 2015 CAM Structure CAM_ PROFILE Structure Appendix B Motion related Data Types Structures Use this appendix for information about the following motion related data types Data type Page CAM Structure 353 CAM_PROFILE Structure 353 MOTION_GROUP Structure 354 MOTION_INSTRUCTION Data Type 356 OUTPUT_CAM Structure 357 OUTPUT_COMPENSATION Structure 358 The CAM data type consists of slave and master point pairs as well as an interpolation type Because there is no association with a specific axis position or time the point values are unit less The interpolation type can be specified for each segment as either linear or cubic The format of the cam array element is shown in the following table Table 159 CAM Array Element Format Descriptions Enumerations Data Type Description MASTER REAL The x value of the point SLAVE REAL The y value of the point Segment Type DINT The type of interpolation Value Des
439. rror and a latch type of Inactive is used Value Description 0 Inactive The output bit is not changed 1 Position The output bit is set when the axis enters the compensated cam range 2 Enable The output bit is set when the enable bit becomes active 3 Position and Enable The output bit is set when the axis enters the compensated cam range and the enable bit becomes active UnlatchType DINT The Unlatch Type determines how the output bit is reset Selecting a value less than 0 or greater than 5 results in an Illegal Output Cam error and an unlatch type of Inactive is used Value Description 0 Inactive The output bit is not changed 1 Position The output bit is reset when the axis leaves the compensated cam range 2 Duration The output bit is reset when the duration expires 3 Enable The output bit is reset when the enable bit becomes inactive 4 Position and Enable The output bit is reset when the axis leaves the compensated cam range or the enable bit becomes inactive 5 Duration and Enable The output bit is reset when the duration expires or the enable bit becomes inactive Left REAL The left cam position along with the right cam position define the cam range of the Output Cam element The left and right cam positions specify the latch or unlatch positions of the output bit when the latch or unlatch type is set to Position or Position and Enable with the enable bit active If the left position is less than the Cam Start positi
440. rs from the REPEAT UNTIL loop because the REPEAT UNTIL loop executes the statements in the construct and then determines if the conditions are true before executing the statements again The statements in a REPEAT UNTIL loop are always executed at least once The statements in a WHILE DO loop might never be executed Enter This Structured Text pos 0 While pos lt 100 amp structarray pos value lt gt targetvalue do pos pos 2 String_tag DATA pos SINT_array pos end_while 382 Rockwell Automation Publication MOTION RM002E EN P July 2015 Example 2 If You Want This Move ASCII characters from a SINT array into a string tag In a SINT array each element holds one character Stop when you reach the carriage return 1 Initialize Element_number to 0 2 Count the number of elements in SINT_array array that contains the ASCII characters and store the result in SINT_array_size DINT tag 3 Ifthe character at SINT_array element_number 13 decimal value of the carriage return then stop 4 Set String_tag element_number the character at SINT_array element_number 5 Add 1 to element_number This lets the controller check the next character in SINT_array 6 Set the Length member of String_tag element_number This records the number of characters in String_tag so far 7 lf element_number SINT_array_size then stop You are at the end of the array and it does
441. ruction is executed on an axis that is already actively time camming an Illegal Dynamic Change error is generated error code 23 The only exception for this is if the Execution Schedule is specified as pending Pending Cam Execution The transition from one cam profile to another occurs when the operational cam profile reaches the last point in its table At this point the pending cam profile table goes into operation Alternatively the MATC instruction s execution can in effect be deferred pending completion of a currently executing time cam An Execution Schedule selection of Pending can thus be used to seamlessly blend two time cam profiles together without stopping motion As with the continuous mode of operation the blending points should not have large value differences Large differences can result in dramatic acceleration and deceleration changes Blending points are the start and end points for the continuous cam profile In other words the points are the last point of the operating cam profile and first point of pending cam profile Rockwell Automation Publication MOTION RMOO2E EN P July 2015 185 Chapter 2 186 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV The Pending execution feature is particularly useful in applications when the axis must be accelerated up to speed by using a specific velocity profile When this acceleration profile is done it must be smoothly blended int
442. ructions MGS MGSD MGSR MGSP Table of Contents MAPC Changes to Status Bits 0 c ee cee eee eee eee 176 MAPCG Example res ias aa ait ua are Mate EEE aa 177 Motion Axis Time Cam MATC ssssuesuusesssurrersserres 178 Operinidsssescias kite eee there A E E E EE 178 Des ription reres er iana irin En TRENE sols Sadao te PARR 181 Specifying and Executing the Cam Profile 04 182 Scaling Time CaS at Va coliewa etre pve gree Se Rate an Guenngets 183 Execution Schedule yates cis enudaus wd hee hee dees 184 Stopping a Gam ieren neen ao wn ENE E OARE E aeons 187 Merging from a Cam s sssesesersrrrrsrerrerersrrrrererere 188 Arithmetic Status Flags o ssn coveel oeodeseeeev ad seasons 188 Fault Conditions eenia oidean E a enira 188 MATC Execution Conditions 4044 20 ives erate ate at ad 189 NANG Error Godest riranna e he toayeve nda 190 MATC Changes to Status Bits 2x33 sani aeeccacendi es cesar 191 MAN G Example rersmi odode dene sala eas See a o a ana 191 Motion Calculate Slave Values MCSV 0 c eee ceeee en eees 192 Operands an ee tet eet rede Ge EE E cere 192 Descriptio Miva snc sas hc what Anite cca atea Ram ae REEE coher 193 Arithmetic Status Flags csv sks ceous Sly rise saw vee ey eancaae ees 193 MCSV BOE Codes ut Gute occas eae heeds eee ee 194 MCSV Changes to Status Bitsy oisccscsiwsledes dwn den inkne cnt 194 Chapter 3 Motion Group Stop MGS jis ea ci ca curad nehnbataebees waraewes 196 Oper
443. s provided Each point in the cam array that was used to generate the time cam profile can be configured for linear or cubic interpolation Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Using Common Cam Profiles Camming Appendix E Electronic camming remains active through any subsequent execution of jog or move processes for the slave axis This allows electronic camming motions to be superimposed with jog or move profiles to create complex motion and synchronization Calculating a Cam Profile You can use a Motion Calculate Cam Profile MCCP instruction to calculate a cam profile based on an array of cam points You can establish an array of cam points programmatically or by using the Logix Designer software Cam Profile Editor Each cam point in the cam array consists of a slave position value a master position position cam or time time cam value and an interpolation type linear or cubic An MAPC or MATC instruction can use the resulting cam profile to govern the motion ofa slave axis according to master position or time There are four common cam profiles that can be used as position cam or time cam profiles e Acceleration Cam Profile e Run Cam Profile e Deceleration Cam Profile e Dwell Cam Profile Cam profiles are configured for each required slave axis change of position as corresponds to specific master axis position or time positions Acceleration Cam Profile An acceleration cam pro
444. s Continued Operand Type Format Description Cam Profile CAM_PROFILE array Tag name of the calculated cam profile array used to establish the master slave position relationship Only the zero array element 0 is allowed for the Cam Profile array Ellipsis launches Cam Profile Editor Slave Scaling REAL Immediate Tag Scales the total distance covered by the slave axis through the cam profile Master Scaling REAL Immediate Tag Scales the total distance covered by the master axis through the cam profile Execution Mode DINT Immediate Execution modes of Once or Continuous can be selected to determine how the cam motion behaves when the master position moves beyond the start and end points of the profile defined by the original cam table When Continuous mode is selected the specified cam profile once started is executed indefinitely With continuous operation the profile s master and slave positions are unwound when the position of the master axis moves outside the profile range causing the cam profile to repeat To generate smooth continuous motion by using this technique however care must be taken in designing the cam points of the cam table to ensure that there are no position velocity or acceleration discontinuities between the start and end points of the calculated cam profile 0 Once Cam motion of slave axis starts only when the master axis moves into the range defi
445. s are not met the instruction errs IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMO02E EN P July 2015 265 Chapter5 Motion Configuration Instructions MAAT MRAT MAHD MRHD MAAT Execution Conditions Condition Ladder Diagram Action Structured Text Action Prescan The EN DN ER IP and PC bits are cleared No action taken The rung condition out is set to false Rung condition in is false The EN bit is cleared if either the DN or ER bit is set N A Otherwise the EN bit is not affected The DN ER IP and PC bits are not affected The rung condition out is set to false Rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes Instruction execution See t
446. s if you specified an unconfigured axis IP In Process Bit 26 It is set on positive rung transition and cleared after the tuning process is complete or terminated by a stop command shutdown or a servo fault PC Process Complete Bit 27 It is set after the tuning process has been successfully completed Description AXIS_SERVO AXIS_SERVO_ DRIVE The MRAT instruction is used to execute a tuning motion profile on the specified axis During this brief tuning motion profile the motion module makes timing and velocity measurements that serve as input data for a subsequent Motion Apply Axis Tuning MAAT instruction MRAT requires no explicit input parameters simply enter or select the desired physical axis If the targeted axis does not appear in the list of available axes the axis has not been configured for operation Use the Tag Editor to create and configure a new axis The MRAT instruction uses axis configuration parameters as input and output The input configuration parameters that MRAT uses are shown in this table Table 112 MRAT Input Configuration Parameters Axis Parameter Data Type Units Meaning Tuning Direction DINT Direction of Tuning Motion 0 Fwd 1 Rev Tuning Configuration Bits DINT Bit 0 Direction Bit 1 Position Integrator Bit 2 Velocity Integrator Bit 3 Velocity FF Bit 4 Acc FF Bit 5 Low Pass Filter Bit 6 Uni or Bi directional tune Bit 7 Friction Compensation Tuning Tra
447. s is not Time Camming PositionCamPendingStatus FALSE Axis does not have a Position Cam Pending TimeCamPendingStatus FALSE Axis does not have a Time Cam Pending GearingLockStatus FALSE Axis is not in a Gear Locked condition PositionCamLockStatus FALSE Axis is not in a Cam Locked condition DirectVelocityControlStatus FALSE Axis is not under Direct Velocity Control DirectTorqueControlStatus FALSE Axis is not under Direct Torque Control MSF Example When the input conditions are true the controller disables the servo drive and the axis servo loop configured by Axis0 Relay Ladder MSF Motion Servo Off No Axis Axis i ND Motion Control MSF_1 R gt Structured Text MSF Axis0 MSF_1 Rockwell Automation Publication MOTION RM002E EN P July 2015 47 Chapter1 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Motion Axis Shutdown MASD 48 Use the Motion Axis Shutdown MASD instruction to force a specified axis into the Shutdown state The Shutdown state of an axis is the condition where the drive output is disabled servo loop deactivated and any available or associated OK solid state relay contacts open The axis remains in the Shutdown state until either an Axis or Group Shutdown Reset is executed Operands The MASD instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MASD Motion Axis Shutdown Axis Motion Control Table
448. s per sec2 The instruction doesn t use the Decel Jerk value Because the Stop Type is all the instruction uses a trapezoidal profile to stop the axis AS Motion Axis Stop EN Axis Servo_Axis Motion Control Servo_Axis_MI Stop_Auto DN gt Stop Type All Change Decel Yes ER gt Decel Rate Servo_Axis_Vars C Auto_Decel 20 0 IP Decel Units Units per sec2 Change Decel Jerk Yes PC Decel Jerk Servo_Axis_Vars C Auto_Decel_Jerk 100 0 Jerk Units of Time lt lt Less Servo_Axis_Vars 1 Stop Stop All Motion Structured Text P1 Start_Auto_Run_Jog AJ Servo Axis Servo Axis MI Run Jog 0 Auto Speed Unitspersec Step_001 Servo_Axis_Vars C Auto_ Accel UnitspersecZ Servo_Axis_Vars C Auto Decel Unitspersecz Trapezoidal 100 100 ofTime Disabled Programmed N baal Change_Auto_ Speed T f Auto Speed lt gt Auto Spee d Last Then MCD Servo_Axis Servo_Axis MI Change Jog Jog Yes Auto_Speed No 0 No 0 Unitspersec Unitspersec2 UnitsperseczZ Auto Speed Last Auto Speed Stop AS Servo Axis Servo_Axis MI Stop_ Auto All Yes Servo_Axis_Vars C Auto Decel ofMaximum Yes Servo_Axis_Vars C Auto Decel Jerk ofTime Before the SFC leaves the step stop Servo_Axis The PO qualifier limits this to the last scan of the step Servo_Axis_ Vars I Stop jt The SFC leaves the step when Servo_Axis_Vars Stop turns on Rockwell Automation Publication MOTION RMOO2
449. s set N A Otherwise the EN bit is not affected The DN and ER bits are not affected The rung condition out is set to false rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes instruction execution See the following figure postscan The rung condition out is set to false No action taken EN bit 0 Si Examine EN bit EN bit is set ENbit 1 Instruction Yes 7 detects an EN bit remains set EN bit remains set error DN bit remains clear Rung condition out ERbitis set remains set to true Rung condition out remains true Rung condition out is set to true Processing runs to completion in motion task EN bit remains set Function DN bit is set complete ER bit remains clear Rung condition out is not affected EN bit remains set DN bit remains clear ER bit remains clear Rung condition out is not affected 208 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Group Instructions MGS MGSD MGSR MGSP Chapter 3 MGSR Error Codes See Error Codes ERR for Motion Instructions on page 345 MGSR Changes to Status Bits Bit Name State Definition ServoActionStatus FALSE Axis is in Axis Ready state with the servo loop inactive DriveEnableStatus FALSE Axis Drive Enable output is inactive ShutdownStatus FALSE
450. sabled and free of torque that is the Power Structure Enabled status bit is cleared or held in a static condition via an active control loop that is Power Structure Enabled status bit is set The drive cannot initiate motion in the Stopped state nor can the drive respond to a planner generated command reference that is the Tracking Command status bit is cleared In general the axis should be at rest However if you apply an external force or torque to the load a brake can be needed to maintain the rest condition In the Stopped state main power is applied to the drive and the DC Bus are at an operational voltage level If there are any Start Inhibited conditions detected while in this state the axis transitions to the Start Inhibited state If an Enable request or one of the Run Test service requests is applied to an axis in the Stopped state the motion axis transitions to the Starting state Starting When an Enable request is given to an axis in the Stopped or Stopping state while it is performing a Flying Start the axis immediately transitions to the Starting state In this state the drive checks the following conditions before it transitions to the Running state Brake Release delay time Induction Motor flux level The drive control and power structures are activated during the Starting state that is the Power Structure Enabled status bit is set But the command reference is set to a local static value and does not track the
451. sees 384 Operands ers seus oes Sia nea A UE eee PAR eres a 384 Description serea ea EEn EREEREER E dace eos ETRA 384 Arithmetic Status Flags cs soce sew adenteay eevee ee eee eee pees 385 Fault Conditions eire onea a coudi sees A A 385 COMMISH ES eo esses se ae ia E A A N A ARA 387 Appendix D Appendix E Cammine Concepts 2 saidicy Eia aE einen EAE SE seis 393 Mechanical Camming s ssssrsesererrrerrereresrererrere 393 Electronic Cammy vis ssc on iawn pa sae eee eee wand 394 Cam PEELS A aemm cars Bes aera ewok tin eer a ALANS aaa tte Spinseins 395 Position Cam Pronleid ives Sicaeiinn bisdwddl oie ee eae has 395 Time Cam PRONE e e pion EN Gn AA 396 Calculating a Cam Profile 2 35 9s essen teneads ausesvngs coats 397 Using Common Cam Pro nlesicy ociawwsis ntesians tories Sone ee at wweaks 397 Acceleration Cam Profile oie aw ere dduaa ede uA Oh crew a ercirdece 397 Run Can Protle cosq ly ctia tee Acted OG in ote ents a 398 Deceleration Cam Profile acseoie seca ee ta teed tea median anak 399 Dwell Cany Profile reee tei sieve ack oy Ue li lanl Bee ll Os 399 Dwell atin rote fee oles Sie hoes Bc ae EY an at rhs 400 Behavior of Pending Canid cx 13a pSancencus sca adh deS gem nees 400 Scaling Camie ai a E ewe Ea noes 401 Scaling Position Cam Pronles s sc sawmcpudsia Secours eaatowny ders 401 Scaling Time Cam Profiles i n is 5s sane sake ee cree ess 402 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 History of Changes Ind
452. shed There are two reasons why the slave might accelerate One when the master driving the slave is accelerating and two when the slave is accelerating due to it s programmed acceleration in a new instruction When the acceleration of the Tracking Master bit in the instruction Control Word is cleared it is not sensitive to the acceleration due to the master being accelerated The master is only sensitive to the acceleration of the slave caused by a programmed change in the speed of two successive instructions 306 Rockwell Automation Publication MOTION RMO02E EN P July 2015 MDSC Functionality Chapter 6 Actions Taken When Stopping Shutdown Instructions are Executed on the Slave Axis All commands in the following table are for the Slave Axis system The following table identifies the change in state of the MDAC link between the master and slave axis as each instruction in column 1 is executed on the slave axis Table 135 Actions for the Slave Axis Instruction Parameters MDAC IP Bit MGS Reset MGSD Reset MCS Stop Type Coordinated Not Changed Motion Stop Type Transform Not Changed Stop Type All Reset MCSD Reset MAS Stop Type Jog Not Changed AC bit for the MDAC is set because a MAJ is active then the AC bit will be reset Stop Type Move Not Changed AC bit for the MDAC is set because a MAM is active then the AC bit will be reset Stop Type Time CAM Not Changed AC bit for the
453. sing a point pair table of values This table is a master axis set of point positioning values and a corresponding set of slave axis point positioning values The user defined position point array causes one closed loop axis to move with another open or closed loop axis Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Camming Appendix E Cam Profiles A cam profile is a representation of non linear motion that is a motion profile that includes a start point end point and all points and segments in between A cam profile is represented by an array of cam elements The point pair used in a cam profile determines slave axis movement in response to master axis positions or times In a motion control application you can use two different types of general cam profiles to accomplish electronic camming e Position Cam Profile e Time Cam Profile Position Cam Profile Position lock cams provide the capability of implementing non linear electronic gearing relationships between two axes based on a Cam Profile Upon execution of this instruction the axis specified as the slave is synchronized with the axis designated as the master A position cam profile is defined by using a table of points that contains the following information e An array of master axis position values e An array of slave axis position values The master axis position values correspond to the slave axis position values In other words
454. sition ie ail a a ee Position Position 1 1 Position i Position 1 Output bit initially set Output bit initially not set Chapter 4 Figure 28 shows the effect of the selected unlatch type on the output bit for different compensated cam and enable bit combinations as function of time Figure 28 Effect of the Selected Unlatch Type on Time Compensated Cam Enable Bit fine Output Bit i Duration pog J Duration and E nable Output bit initially set Output bit initially not set The following sections describe the affect of the Latch Type and Unlatch Type data types of the OUTPUT_CAM structure on the MAOC instruction Refer to the description of the OUTPUT_CAM Structure on page 357 for more information on all of the data types and programming units Rockwell Automation Publication MOTION RMO02E EN P July 2015 247 Chapter 4 248 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Output Cam Array Checks The following output cam array checks are used with the MAOC instruction Table 100 Output Cam Array Checks If you select An output bit less than 0 or greater than 31 Then The Output Cam element is not considered and the user is warned with an instruction error Illegal Output Cam A latch type less than 0 or greater than 3 A value of Inactive is used and the user is warned with an instruction error Illegal Output Cam An unlatc
455. sition camming process and the Master Lock Position parameter is irrelevant The slave axis is immediately locked to the master axis beginning at the Cam Lock Position of the specific cam profile When the MAPC instruction is executed the camming process is initiated on the specified slave axis and the Position Cam Status bit in the slave axis Motion Status word is set If the Execution Schedule is Immediate the slave axis is immediately locked to the master according to the specified Cam Profile This is indicated by the fact that the Position Cam Lock Status bit for the specified slave axis is also set Figure 51 Immediate Execution Cam Cam Profile Slave Axis Start Position Postion Master Axis Position 1 o Position Cam Lock Status 1 a i Position Cam Status S Postion Cam Initiated Changing the Cam Lock Position on an MAPC Immediate Execution Schedule The Cam Lock Position parameter of the MAPC instruction determines the starting location within the cam profile when the slave locks to the master Typically the Cam Lock Position is set to the beginning of the cam profile Because the starting point of most cam tables is 0 the Cam Lock Position is typically set to 0 Alternatively the Cam Lock Position can be set to any position within the master range of the cam profile If a Cam Lock Position is specified that is out of this range the MAPC instruction errors The diagram Changing the Cam Lock Po
456. sition shows the effect of specifying a Cam Lock Position value other than the starting point of the cam table in this case the value represents a position within the cam profile itself Be careful not to define a Cam Start Point that results in a velocity or acceleration discontinuity to the slave axis if the master axis is currently moving Rockwell Automation Publication MOTION RM002E EN P July 2015 Camming Appendix E Figure 52 Changing the Cam Lock Position l Cam Cam Profile Slave Axis Start Position Posttion Master Axis Position 1 o Position Cam Lock Status Position Cam Status Postion Cam Initiated Pending An MAPC instruction s execution can be deferred pending completion of a currently executing position cam You can use Execution Schedule selection of Pending to blend two position cam profiles together without stopping motion This Execution Schedule selection of Pending is fully described in Pending Cams on page 408 Forward Only Reverse Only or Bidirectional Execution Schedules The slave axis is not locked to the master until the master axis satisfies the condition specified when the Execution Schedule parameter is set to any of the following parameters e Forward Only e Reverse Only e Bidirectional With any of these selections the master axis is monitored by the camming process to determine when the master axis passes the specified Master Lock Position in the spec
457. ssociated Registration Position variable in the axis data structure Also the instruction s Event PC bit is simultaneously set as well as the Registration Event Status bit in the axis data structure If Windowed Registration is selected only registration events whose computed registration position falls within the Max and Min Position window are accepted If the Registration Position falls outside this window the registration event checking is automatically rearmed Operands The MAR instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MAR Motion Arm Registration Axis Motion Control Trigger Condition Windowed Registration Min Position E Yeg J Max Position J eee S ie S ee ee eed Input Number Table 89 MAR Relay Ladder Operand Descriptions Operand Type Format Description Axis AXIS_CIP_DRIVE Tag Name of the axis to perform operation on AXIS_ FEEDBACK AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Motion control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Trigger DINT immediate Defines the Registration Input transition that condition defines the registration event 0 trigger on positive edge 1 trigger on negative edge Rockwell Automation Publication MOTION RMOO2E EN P July 2015 227 Chapter 4 228 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Table 89 MAR Relay Ladder Operand
458. st 1 encoder hookup test 2 encoder marker hookup test 3 commutation test Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Structured Text Motion Configuration Instructions MAAT MRAT MAHD MRHD Chapter 5 MRHD Axis MotionControl DiagnosticTest The operands are the same as those for the relay ladder MRHD instruction For the operands that require you to select from available options enter your selection as Table 120 MRHD Structured Text Operand This Operand Diagnosticlest Has these options which you Enter as text Or enter as a number motor_encoder 0 encoder 1 mark 2 commutation 3 MOTION_INSTRUCTION Structure Table 121 MRHD MOTION_INSTRUCTION Structure Descriptions Bit Enumerations Description 26 IP In Process is set on positive rung transition and cleared after the diagnostic test process is complete or terminated by a stop command shutdown or a servo fault 27 PC Process Complete is set after the diagnostic test process has been successfully completed 28 ER Error is set to indicate that the instruction detected an error such as if you specified an unconfigured axis 29 DN Done is set after the hookup test process has been successfully executed 31 EN Enable is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false Rockwell Automation Publicatio
459. ster Lock Position parameter is irrelevant 1 Pending lets you blend a new position cam execution after an in process position cam is finished When Pending is selected the following parameters are ignored Master Axis Master Lock Position and Master Reference 2 Forward only the cam profile starts when the master position crosses the Master Lock Position in the forward direction 3 Reverse only the cam profile starts when the master position crosses the Master Lock Position in the reverse direction 4 Bidirectional the cam profile starts when the master position crosses the Master Lock Position in either direction Master Lock Position 158 REAL Immediate Tag When the Master Offset 0 0 the Master Lock Position is the Master axis absolute position where the slave axis locks to the master axis If the Master Offset is X then the Slave axis locks to the Master axis at the absolute master position value of Master Lock Position X For example assume a Master Lock Position 50 and a Master Offset Move 10 Assume the Master axis move MAM and Master offset move MOM start at the same time then the Slave locks to the Master at an absolute Master axis position of 40 This in effect shifts the Cam profile of 10 units to the left If Pending is selected as the Execution Schedule value then Master Lock Position is ignored Rockwell Automation Publication MOTION RMO02E EN P July 2015 Table 6
460. ster and the output bit representing the slave Hence the Output Cam functionality is related to the position cam functionality which provides a relationship between a master axis and aslave axis To accurately synchronize the output cams to the designated axis an execution schedule and associated axis and cam arm positions are specified When the axis travels past the axis arm position in the direction specified by the Execution Schedule parameter the cam position becomes locked to the axis position starting at the specified Cam Arm Position parameter At this time the output cam is armed and the Output Cam Armed status is set The output cam can also be configured via the Execution Schedule parameter to execute Immediately or Pending completion of a currently executing output cam The output cam can also be executed Once Continuously or Persistently by specifying the desired Execution Mode Persistent behavior allows the output cam to become disarmed when the cam position exceeds the output cam range and rearmed when cam position returns to within range MAOC Instruction A valid Cam Arm position is any position between and including the Cam Start and Cam End positions If the Cam Arm position is set to a value equal to or very close to the Cam Start or Cam End position compensation can put a cam position out of range of the Cam Start and Cam End position Compensation is affected by Output Compensation values specified for Position Offs
461. stop the loop before the count reaches the last value use an EXIT statement The Arithmetic Status Flags are not affected Fault Conditions A major fault will occur if the construct loops are too long The fault type is 6 and the fault code is 1 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 379 AppendixC Structured Text Programming Example 1 If you want this Enter this structured text Clear bits 0 to 31 in an array of BOOL For subscript 0 to 31 by 1 do 1 Initialize the subscript tag to 0 bscript 0 2 Clear array subscript For example when subscript 5 clear array 5 array subscript 3 Add 1 to subscript End_for 4 If subscript is to 31 repeat 2 and 3 Otherwise stop Example 2 If You Want This Enter This Structured Text A user defined data type structure stores this information about an item in your SIZE Inventory 0 Inventory_Items inventory 7 lt Barcode ID of the item string data type For position 0 to Inventory_Items 1 do Quantity in stock of the item DINT data type If Barcode Inventory position ID then An array of the previously listed structure contains an element for each different item in your inventory You want to search the array for a specific product use its Quantity Inventory position Qty bar code and determine the quantity that is in stock Exit 1 Get the size number of items of the Inventory array a
462. t ER bit remains clear IP bit is cleared PC bit is set Rung condition out is not affected Process complete No EN bit remains set DN bit is set ER bit remains clear IP bit is cleared PC bit remains clear Rung condition out is not affected O Process aborted MATC Error Codes See Error Codes ERR for Motion Instructions on page 345 MATC Extended Error Codes Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions Extended error codes for the PARAMETER_OUT_OF_RANGE 13 error code lists a number that refers to the number of the operands as they are listed in the faceplate from top to bottom with the first operand being counted as zero Therefore for the MATC instruction an extended error code of 5 would refer to the Time Scaling 190 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 operand s value You would then have to check your value against the accepted range of values for the instruction MATC Changes to Status Bits If the Execution Schedule is set to Immediate execution of the MATC instruction simply sets the Time Cam Status bit to True Bit Name State Meaning TimeCamStatus TRUE Time Camming is Enabled TimeCamPendingStatus FALSE No pendin
463. t EN bit is set EN bit 1 Instruction detects an EN bit remains set EN bit remains set error DN bit remains clear Rung condition out ER bit is set remains set to true Rung condition out remains true No Rung condition out is set to true Processing runs to completion in motion task EN bit remains set Function DN bit is set complete ER bit remains clear Rung condition out is not affected EN bit remains set DN bit remains clear Cid gt L______ ER bit remains clear Rung condition out is not affected 204 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Group Instructions MGS MGSD MGSR MGSP Chapter 3 MGSD Error Codes See Error Codes ERR for Motion Instructions on page 345 MGSD Changes to Status Bits Table 79 Changes to Status Bits for the MGSD Instruction Bit Name State Definition ServoActionStatus FALSE Axis is in Axis Ready state with the servo loop inactive DriveEnableStatus FALSE Axis Drive Enable output is inactive ShutdownStatus TRUE Axis is in Shutdown state AccelStatus FALSE Axis is not Accelerating DecelStatus FALSE Axis is not Decelerating GearingLockStatus FALSE Axis is not locked JogStatus FALSE Axis is not Jogging MoveStatus FALSE Axis is not Moving GearingStatus FALSE Axis is not Gearing HomingStatus FALS
464. t Position Table 53 MRP Relay Ladder Descriptions Operand Type Format Description Axis AXIS_CIP_DRIVE Tag Name of the axis to perform operation on AXIS_FEEDBACK AXIS_VIRTUAL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Motion control MOTION_INSTRUCTION Tag Structure used to access instruction parameters Type BOOLEAN Immediate The way you want the redefinition operation to work 0 absolute 1 relative Position select BOOLEAN Immediate Choose what position to perform the redefinition operation on 0 actual position 1 command position Position REAL Immediate The value to use to change the axis position to Tag or offset to current position Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Structured Text MRP Axis MotionControl Type PositionSelect Position The operands are the same as those for the relay ladder MRP instruction Enter your selection for the operands that require you to select from available options Table 54 MRP Structured Test Operand Descriptions This Operand Has These Options That You Enter as Text Or Enter as a Number Type absolute 0 relative 1 PositionSelect actual 0 command 1 MRP MOTION_INSTRUCTION Structure Table 55 MRP Motion_Instruction Structure Descriptions Enumerations Description EN Enable Bit 31 It is set when the rung makes a false to true
465. t attribute Test Status This parameter returns the status of the last Run Hookup Test service on the targeted drive axis Conditions can occur that make it impossible for the control to properly perform the test operation When this is the case the test process is automatically aborted and a test fault is reported and stored in the Hookup Test Status output parameter Possible values for Test Status are shown in this table Table 127 Test Status Values Error Message Code Definition Test Success 0 Test process has been successful Test In Process 1 Test is in progress Test Aborted 2 Test Process was aborted by user Rockwell Automation Publication MOTION RM002E EN P July 2015 293 Chapter 5 294 Motion Configuration Instructions MAAT MRAT MAHD MRHD Table 127 Test Status Values Error Message Code Definition Test Time out 3 Test Process has exceeded timed out 2 Seconds Test Servo Fault 4 Test Process Failed due to Servo Fault No Feedback 1 5 Test Process Failed no feedback 1 counts No Feedback 2 6 Test Process Failed no feedback 2 counts Executing the Instruction This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Arithmetic St
466. t the Torque Offset of the drive to cancel out the active load torque force Position Servo Real Hertz It represents the unity gain bandwidth of the position Bandwidth loop that is used to calculate the position loop gains Velocity Servo Real Hertz It represents the unity gain bandwidth of the velocity Bandwidth loop that is used to calculate the velocity loop gains The previously listed output parameters generated by the MRAT instruction serve as inputs to compute the Position and Velocity loop gains Position and Velocity Error Tolerances Feed Forward Gains Load Ratio Maximum Acceleration Maximum Deceleration System Inertia System Acceleration and Friction Compensation Rockwell Automation Publication MOTION RM002E EN P July 2015 273 Chapter 5 274 Motion Configuration Instructions MAAT MRAT MAHD MRHD If the Gain Tuning Config Bits parameter bit zero is the Run Inertia Test Bit This bit determines whether or not the MRAT tuning instruction will send a Test Inertia service to the drive to perform an inertia measurement If this bit is set the Inertia Test shall be performed If the bit is clear the MRAT will immediately complete without an inertia measurement It will only calculate the Pos and Velocity Servo Loop Bandwidths based on the Loop response or the Damping factor Tune Status Parameter Conditions can occur that make it impossible for the controller to properly perform the tuning operation
467. t Actions to Status Only 2 When a feedback fault occurs issue an MSF instruction to turn the servo off 3 Issue an MAER instruction to clear the feedback fault status The MDO instruction executes without another feedback fault shutting down the system However the feedback fault status remains feedback fault condition exists IMPORTANT Keep in mind the following when using the previous steps e Once feedback has been lost the reported position can not be valid To reestablish a valid position perform another home operation e The steps listed previously are only valid for the following modules 1756 MO2AE module in an Logix Designer project versions 15 to 17 1756 M02AS module in an Logix Designer project version 15 e Ifyou need to issue another MDO instruction such as to modify the output voltage when the first MDO instruction is executing you must first issue an MSF instruction to stop the servo and then issue an MAFR instruction to clear the feedback fault Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions 62 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 MDO Execution Conditions Condition Ladder Diagram Action Structured Text Action Prescan The EN DN and ER bits are cleared The rung condition out is set to false No
468. t is typically executed continuously To stop the slave axis the operating cam profile is smoothly blended into a deceleration profile such that the axis stops at a known location as shown in graphic Pending Cam Execution Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Camming Appendix E Figure 55 Pending Cam Execution Run Profile Decel Profile Los Accel Profile x va MAPC Instruction Slave Axis Position T N Master Axis Position Run Profile Decel Profile ls Accel Profile x MATC Instruction va Slave Axis Position i N Master Axis Time By executing the position cam profile as a Pending cam profile while the current profile is still executing the appropriate cam profile parameters are set up ahead of time This makes the transition from the current profile to the pending profile seamless synchronization between the master and slave axes is maintained To ensure smooth motion across the transition however the profiles must be designed such that no position velocity or acceleration discontinuities exist between the end of the current profile and the start of the new one This is done by using the Logix Designer Cam Profile Editor Once a pending position cam instruction has been executed the new cam profile takes effect automatically and becomes the current profile when the master axis passes through eith
469. tatus parameter is used to indicate that the Cam Profile array element has been calculated If execution of a camming instruction is attempted by using any uncalculated elements in a cam profile the MAPC or MATC instructions error The type parameter determines the type of interpolation applied between this cam array element and the next cam element Figure 6 Cam Operation Diagram Tag Editor Ladder Routine Motion Planner Cam Profile Cam Profile Editor as asian ae Tag Creation Data Modification The Status member of the first element in the cam profile array is special and used for data integrity checks For this reason the MCCP must always specify the cam profile with the starting index set to 0 This first cam profile element Status member can have the following values Table 59 MCCP Status Variable Descriptions Status Variables Description 0 Cam profile element has not been calculated 1 Cam profile element is being calculated 2 Cam profile element has been calculated n Cam profile element has been calculated and is currently being used by n 2 MAPC or MATC instructions Before calculating a cam profile on a specified axis the MCCP instructions first checks if the cam profile array has been calculated by checking the value of the first cam profile element s Status member If the Status value is either 0 or 2 the MCCP proceeds with the calculation of the cam profile
470. tax tag expression Table 167 Syntax Descriptions Component Description tag represents the tag that is getting the new value the tag must be a BOOL SINT INT DINT or REAL is the non retentive assignment symbol expression represents the new value to assign to the tag If Tag is This Data Type Use This Type of Expression BOOL BOOL expression SINT numeric expression INT DINT REAL j ends the assignment Rockwell Automation Publication MOTION RM002E EN P July 2015 361 AppendixC Structured Text Programming Expressions 362 Assign an ASCII Character to a String Use the assignment operator to assign an ASCII character to an element of the DATA member of a string tag To assign a character specify the value of the character or specify the tag name DATA member and element of the character These are some examples This is OK This is Not OK string1 DATA 0 65 string1 DATA 0 A string1 DATA 0 string2 DATA 0 string string2 To add or insert a string of characters to a string tag use either of these ASCII string instructions Use This Instruction add characters to the end of a string CONCAT insert characters into a string INSERT An expression is a tag name equation or comparison To write an expression use any of these elements e Tag name that stores the value variable e Number that you enter directly into the expression i
471. te mode introduces a position error equal to the motion of the axis during the time it takes to execute the MRP instruction and assign the new position Relative mode does not introduce this error and guarantees an exact correction independent of axis speed or position Actual Position When Actual is selected or entered as the MRP Position Selection the New Position is directly applied to the actual position of the physical axis The command position of the axis is also adjusted along with the new actual position to preserve any position error which exists This ensures that there is no unexpected motion of the axis when the positions are redefined See the Integrated Motion on the Ethernet IP Network Reference Manual publication MOTION RMO003 for more discussion of command position actual position and position error Command Position When Command is selected or entered as the MRP Position Selection the New Position is directly applied to the command position of the servo or imaginary axis Because Feedback Only axes do not have a command position always choose Actual from the Position menu for Master Only axes The actual position of servo axes is also adjusted along with the new command position to preserve any position error which exists This ensures that there is no unexpected motion of the axis when the positions are redefined Rockwell Automation Publication MOTION RMO02E EN P July 2015 145 Chapter 2 146 Motion Move I
472. ted indefinitely In this mode the master and slave positions are unwound when the position of the master axis moves outside the profile range This unwinding causes the cam profile to repeat This feature is useful in rotary applications where it is necessary that the cam position run continuously in a rotary or reciprocating fashion Persistent The cam motion of the slave axis proceeds only when the master axis moves within the range defined by the start and end points of the cam profile When the master axis moves beyond the range of the profile cam motion on the slave axis stops and only resumes when the master moves back into the profile range specified by the start and end points 1 This selection is only available on the MAPC instruction The Execution Schedule parameter controls an instruction s execution You must configure the Execution Schedule parameter on an MAPC or MATC instruction The Execution Schedule selections are different depending on which instruction that is the MAPC instruction or the MATC instruction you are using MAPC Instruction The Execution Schedule parameter selections are the following e Immediate e Pending e Forward Only e Reverse Only Rockwell Automation Publication MOTION RMOO2E EN P July 2015 403 Appendix E 404 Camming e Bidirectional Immediate By default the MAPC instruction is scheduled to execute Immediately In this case there is no delay to the enabling of the po
473. ter Axis is used The Actual and Command Position are always the same for this case No error is generated Because there is no Actual Position for a Virtual axis if you select either Actual or Command for Master Reference the Command Position is used No error will be generated An error is generated ifa MDAC instruction is executed that changes the Master Reference of a Slave Axis that is in motion If the new MDAC instruction errors for any reason the original MDAC will remain active Motion Direct Command and the MDAC Instruction There is no Motion Direct command for MDAC To obtain Motion Direct command support for Master Driven Speed Control mode you must first program an MDAC before you execute an MAM or MAJ in Master Driven mode as a motion direct command Arithmetic Status Flags Not affected Fault Conditions See Actions Taken When Stopping Shutdown Instructions are Executed on the Slave Axis on page 307 for the fault descriptions for motion instructions when MDAC is active Error Codes See Motion Error Codes ERR in Appendix AError Codes ERR for Motion Instructions on page 345 for run time errors for motion instructions when MDAC is active Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Master Driven and Time Driven Modes MDSC Functionality Chapter 6 Logix Designer Application Verification Errors An invalid or No Master Axis causes errors to be generated when verified b
474. ter a value for the Accel Jerk operand This Tag instruction only uses the value if the Profile is configured as S curve e Accel Jerk is the acceleration jerk rate for the axis Use this value to get started Accel Jerk 100 of Time Jerk Units 2 Change Decel Jerk DINT Immediate 0 No 1 Yes Decel Jerk SINT INT DINT or REAL Immediate You must always enter a value for the Decel Jerk operand This Tag instruction only uses the value if the Profile is configured as S curve e Decel Jerk is the deceleration jerk rate for the coordinate system Use these values to get started Decel Jerk 100 of Time Jerk Units 2 SpeedUnits DINT Immediate Units used to display the Speed value 0 units per sec 1 of maximum speed 2 Units per Master Unit 134 Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Table 49 MCD Relay Ladder Descriptions Continued Operand Type Format Chapter 2 Description Accel units DINT Immediate Units used to display the Acceleration value 0 units per sec 1 of maximum acceleration 2 Units per MasterUnits2 Decel units DINT Immediate Units used to display the Deceleration value 0 units per sec 1 of maximum deceleration 2 Units per MasterUnits2 Jerk Units DINT Immediate Structured Text 0 Units per sec 1 of Maximum
475. termine which axis has a Maximum Deceleration value of 0 1 Click the ellipsis button next to the offending axis to access the Axis Properties screen 2 Click the Dynamics tab and make the appropriate change to the Maximum Deceleration Value 3 Ifthe Extended Error number is 1 this means the Coordinate System has a Maximum Deceleration Value of 0 Click the Coordinate System Properties Dynamics tab to correct the Maximum Deceleration Value Rockwell Automation Publication MOTION RMOO2E EN P July 2015 97 Chapter 2 98 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV MAH Changes to Status Bits Bit Name State Meaning HomingStatus True Axis is Homing JogStatus False Axis is no longer Jogging MoveStatus False Axis is no longer Moving GearingStatus False Axis is no longer Gearing StoppingStatus False Axis is no longer Stopping During portions of the active homing sequence these bits can be set and cleared The MAH instruction uses the Move and Jog motion profile generators to move the axis during the homing sequence This also means that any disruption in the Move or Jog motion profiles due to other motion instructions can affect the successful completion of the MAH initiated homing sequence If in Passive Homing mode the MAH instruction sets the Homing Status bit Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Axis Jog MAJ Motion M
476. test as detected by the drive s feedback 2 device Direction 2 0 The drive s feedback 2 device detected a positive direction that is increasing counts Table 125 MRHD Test Status Parameters 1 The drive s feedback 2 device detected a negative direction that is decreasing counts 2 255 reserved The value for Hookup Test Feedback 2 Direction as determined by the hookup test does not depend on the current feedback motor or motion polarity attribute configuration This value combined with the user s definition of forward direction can be used to configure the various polarity attributes for the correct directional sense If due to improper hookup or some other problem with the system the axis feedback fails to detect the axis reaching the configured Motor Encoder Test Increment after moving the axis at least that distance then abort the test by using the MAS instruction and check the encoder wiring Marker Hookup Test If the Marker Test is selected the motion module does not generate any axis motion but simply monitors axis encoder feedback The axis can then be moved by hand or by some other independent drive actuator to generate motion When the motion module detects a marker Channel Z pulse the test is then complete The motion module then reports success via the Test Status Axis Parameter Data Type Units Definition Hookup Test Status USINT Returns the status of the last Run Hookup Test ser
477. the device to completely ignore the exception condition For some exceptions that are fundamental to the operation of the axis it can not be possible to Ignore the condition Alarm Alarm action instructs the device to set the associated bit in the Axis Alarm word but to otherwise not affect axis behavior For some exceptions that are fundamental to the operation of the device it can not be possible to select this action or any other action that leaves device operation unaffected Fault Status Only Fault Status Only instructs the device to set the associated bit in the Axis Faults word but to otherwise not affect axis behavior It is up to the controller to programmatically bring the axis to a stop in this condition For some exceptions that are fundamental to the operation of the device it can not be possible to select this action or any other action that leaves device operation unaffected Stop Planner Stop Motion instructs the device to set the associated bit in the Axis Faults word and instructs the Motion Planner to perform a controlled stop of all planned motion at the configured Max Decel rate but otherwise not affect axis behavior This allows the axis to be subsequently moved via the Motion Planner without first clearing the fault For some exceptions that are fundamental to the operation of the device it can not be possible to select this action or any other action that leaves device enabled 72 Rockwell Automation Publ
478. the latch operation and for the on duty state of pulse and is reset for the unlatch operation and for the off duty state of the pulse 3 Inverted and Pulsed The output bit is reset for the latch operation and for the on duty state of the pulse and is set for the unlatch operation and for the off duty state of the pulse CycleTime REAL Pulse time in seconds If mode is Pulsed or Inverted and Pulsed and CycleTime is less than or equal to 0 an Illegal Output Compensation error results DutyCycle REAL The percent of CycleTime that the pulse is to be turned on on duty A value of 50 represents 50 on duty A value of less than 0 or greater than 100 returns an Illegal Output Compensation error 358 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Appendix C Structured Text Syntax Structured Text Programming This appendix describes issues that are unique with structured text programming Review the information in this appendix to make sure you understand how your structured text programming will execute Topic Page Structured Text Syntax 359 Assignments 360 Expressions 362 Instructions 369 Constructs 370 Comments 387 Structured text is a textual programming language that uses statements to define what to execute e Structured text is not case sensitive e Use tabs and carriage returns separate lines to make your structured text easier to read They have no effect on the execution of the structur
479. the operands that require you to select from available options enter your selection as described in Table 35 MAH MOTION_INSTRUCTION Structure Table 35 MAH Motion_Instruction Descriptions Enumerations Description EN Enable Bit 31 Itis set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 Itis set when axis home has been successfully completed or is aborted ER Error Bit 28 It is set to indicate that the instruction detected an error such as if you specified an unconfigured axis IP In Process Bit 27 It is set on positive rung transition and cleared after the Motion Home Axis is complete or terminated by a stop command shutdown or a servo fault PC Process Complete Bit 26 It is set when axis home is successfully completed Description The MAH instruction is used to calibrate the absolute position of the specified axis For axes that are configured as type Servo the axis can be homed by using Active Passive or Absolute Homing mode configuration For Feedback Only axes only Passive and Absolute homing modes are available Absolute Homing mode requires the axis to be equipped with absolute feedback device IMPORTANT Absolute Homing mode is not available with a CIP axis However any successful Home sequence establishes an absolute position For CIP axes only software overtravels are disabled if th
480. time it is scanned A structured text instruction within a construct executes every time the conditions of the construct are true If the conditions of the construct are false the statements within the construct are not scanned There is no rung condition or state transition that triggers execution This differs from function block instructions that use Enableln to trigger execution Structured text instructions execute as if EnableIn is always set This also differs from relay ladder instructions that use rung condition in to trigger execution Some relay ladder instructions only execute when rung condition in toggles from false to true These are transitional relay ladder instructions In structured text instructions will execute each time they are scanned unless you precondition the execution of the structured text instruction For example the ABL instruction is a transitional instruction in relay ladder In this example the ABL instruction only executes on a scan when tag_xic transitions from cleared to set The ABL instruction does not execute when tag_xic stays set or when tag_xic is cleared tag_xic BB L J ASCII Test For Buffer Line EN Channel 0 h gt SerialPort Control serial_control R gt Character Count 0e The ABL instruction will execute every scan that tag_zic is set not just when tag_xic transition from clear to set in structured text if you write this example as follows IF tag xic THEN ABL
481. tion of clearing faults almost immediately For applications using a Logix controller with the Logix Designer application version 15 and later current drive firmware versions have incorporated a new portion of the fault clearing mechanism that triggers a position recovery process in the drive that recalculates commutation This recalculation could result in the drive not in a ready state to go servo on for 0 5 to 5 seconds after the reset was performed To reflect this change in the instruction the DN bit operation was changed to wait for the drive to complete the reset procedure The end result is that you will not see a successful completion of clearing faults almost immediately as you can have in previous versions Executing the Instruction IMPORTANT The instruction execution can take multiple scans to execute because it requires multiple coarse updates to complete the request The Done DN bit is not set immediately but only after the request is completed This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming on page 359 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 Arithmetic Status Flags The Ar
482. tions where the master axis is a rotary axis because the position cam is then unaffected by the position unwind process When the master axis moves out of the range defined by the cam profile that is assuming Execution Mode is Once both the Position Cam Lock Status and the Position Cam Status bits of the Motion Status word are cleared This Motion Status bit condition indicates that the cam process has completed This fact is also reflected in the bit leg behavior of the associated MAPC instruction PC bit set and IP bit clear After position cam motion is started when the master axis passes the specified Master Lock Position in either the Forward Only or Reverse Only direction the master axis can change direction and the slave axis reverses accordingly Ifan MAPC instruction is executed on a slave axis that is actively position camming an Illegal Dynamic Change error is generated error code 23 However this error does not occur if the Execution Schedule is Pending MATC Instruction An MATC instruction uses one of two Execution Schedule parameters e Immediate e Pending Immediate By default the MATC instruction is scheduled to execute immediately by virtue of the fact that the default setting of Execution Schedule is Immediate In this case there is no delay to the enabling of the time camming process As illustrated in Figure 54 when the MATC instruction is executed the camming process is initiated on the specified axis an
483. tive e RampVelocity Negative e Ramplerk Control 70 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 DirectVelocityControlStatus Command Attribute The DirectVelocityControlStatus Command attribute is applied by taking the value in the speed field in the instruction configuration and coping it into the DirectVelocityControlStatus Command attribute The DirectVelocityControlStatus Command attribute is then scaled and summed onto the commanded output to the drive device The attribute s value can be modified directly via the MOV instruction DirectTorqueControlStatus Command Attribute The DirectTorqueControlStatus Command attribute is applied by taking the value in speed field in the instruction configuration and coping it into the DirectIorqueControlStatus Command attribute The DirectTorqueControlStatus Command attribute is then sent directly to the drive via the placeholder in the Controller to Drive Connection A combination of the DirectVelocityControlStatus Command attribute and the DirectTorqueControlStatus Command attribute can be applied in applications that require Speed limited Adjustable Torque SLAT modes SLAT operation mode provides automatic speed control under certain conditions The SLAT Configuration is an enumerated attribute that determines how the drive controls torque for this axis instance To support applicati
484. transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 It is set when the axis position action been successfully redefined ER Error Bit 28 It is set to indicate that the instruction detected an error such as if you specified an unconfigured axis Description The MRP instruction directly sets the actual or command position of the specified axis to the specified absolute or relative position No motion is caused by this instruction the current axis position is simply redefined Select or enter the desired Axis Type Position Selection and enter a value or tag variable for the desired New Position If the targeted axis does not appear in the list of available axes the axis has not been configured for operation Use the Tag Editor to create and configure a new axis The MRP instruction can be used while the axis is moving as well as when it is at rest MRP is used to redefine position on the fly for certain registration slip compensation and recalibration applications Rockwell Automation Publication MOTION RMOO2E EN P July 2015 143 Chapter 2 144 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Executing the Instruction To successfully execute a MRP instruction the targeted axis must be configured as either a Servo or Feedback Only axis Otherwise the instruction errs You will get error 85 Homing not
485. trol tag in other instructions can cause unintended operation This can result in damage to equipment or personal injury i ATTENTION Tags used for the motion control attribute of instructions These are the motion event instructions Table 84 Choosing a Motion Event Instruction If You Want To Use This Instruction Page Languages Arm watch position event checking for an Motion Arm Watch MAW 216 Relay ladder axis Structured text Disarm watch position event checking for an Motion Disarm Watch MDW 223 axis Arm servo module registration event Motion Arm Registration MAR 227 checking for an axis Disarm servo module registration event Motion Disarm Registration MDR 236 checking for an axis Arm an Output Cam Motion Arm Output Cam MAOC 239 Disarm an Output Cam Motion Disarm Output Cam MDOC 256 Rockwell Automation Publication MOTION RMO02E EN P July 2015 215 Chapter4 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Motion Arm Watch MAW Use the Motion Arm Watch MAW instruction to arm motion module watch position event checking for the specified axis When this instruction is called a watch position event is enabled by using the watch Position for the Axis and specified Forward or Reverse event condition After the arming is complete the Actual Position for the Axis is monitored against the Watch Position and when the specified watch event condition is met the Eve
486. tured Text Action prescan The EN DN ER IP and PC bits are cleared No action taken The rung condition out is set to false rung condition in is false The EN bit is cleared if either the DN or ERbitisset N A Otherwise the EN bit is not affected The DN ER IP and PC bits are not affected The rung condition out is set to false rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes instruction execution See the following figure postscan The rung condition out is set to false No action taken EN bit 0 Examine EN bit EN bit is set Instruction detects an error EN bit remains set DN bit remains clear ER bit is set IP bit remains clear PC bit remains clear Rung condition out is true EN bit remains set Rung condition out remains set to true EN bit remains set DN bit is set ER bit remains clear LIP bit is set PC bit remains clear Rung condition out is set to true Processing runs to completion in motion task EN bit remains set DN bit remains set ER bit remains clear Yes LIP bit is cleared PC bit is set Rung condition out is not affected Function complete EN bit remains set DN bit remains set ER bit remains clear AP
487. tus FALSE Axis is not Time Camming PositionCamPendingStatus FALSE Axis does not have a Position Cam Pending TimeCamPendingStatus FALSE Axis does not have a Time Cam Pending GearingLockStatus FALSE Axis is not in a Gear Locked condition PositionCamLockStatus FALSE Axis is not in a Cam Locked condition DirectVelocityControlStatus FALSE Axis is not under Direct Velocity Control DirectTorqueControlStatus FALSE Axis is not under Direct Torque Control MGS Example When the input conditions are true the controller stops motion on all axes in group1 After the controller stops all motion the axes are inhibited Relay Ladder MGS Motion Group Stop l Group Motion _ Ko Motion Control MGS_1 Stop Mode Programmed Structured Text MGS Motion MSG_1 Programmed Rockwell Automation Publication MOTION RMOO2E EN P July 2015 201 Chapter3 Motion Group Instructions MGS MGSD MGSR MGSP Motion Group Shutdown Use the Motion Group Shutdown MGSD instruction to force all axes in the MGSD designated group into a Shutdown state The Shutdown state of an axis is Servo Off drive output is deactivated and the motion module s OK solid state relay contacts if applicable are opened The group of axes remains in the Shutdown state until either Group Shutdown Reset is executed or each axis is individually reset via the Motion Axis Shutdown MASD instruction Operands The MGSD i
488. uction Mode lt lt Less Table 65 MATC Relay Ladder Operand Descriptions Operand Type Format Description Axis AXIS_CIP_DRIVE Tag The name of the axis to which the cam profile is applied Ellipsis launches Axis Properties dialog box AXIS_FEEDBACK AXIS_VIRTUAL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Motion Control MOTION_INSTRUCTION Tag Structure used to access block status parameters 178 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Table 65 MATC Relay Ladder Operand Descriptions Continued Operand Direction Type DINT Format Immediate Tag Description Relative direction of the slave axis to the master axis Cams can be configured to add or subtract their incremental contribution to the axis command position Control over this behavior is via the Direction parameter 0 Same The axis position values in the cam profile are added to the command position of the axis When Same is selected or entered as the Direction for the MATC instruction the axis position values computed from the cam profile are added to the command position of the axis This is the most common operation as the profile position values are used just as entered in the original cam table That is consecutive increasing profile values result in axis motion in the positive direction and vice versa 1 Opposite
489. uctions MOTION_GROUP Structure Motion Instructions and Integrated Motion Control Modes Camming 414 Rockwell Automation Publication MOTION RMO02E EN P July 2015 A acceleration 318 397 acceleration cam 397 axis control 303 behavior 400 bidirectional 403 C calulating 397 cam 404 master axis 395 CAM data type 353 cam execution modes 403 cam pending 408 cam profile 395 397 cam profile array 401 cam profile editor 397 cam profiles scaling time 402 cam shape 394 CAM_PROFILE data type 353 cams 401 changing 404 CIP Sync 33 coefficients calculating 396 common cam profiles 397 control words 303 cubic 396 D data types 353 358 CAM 353 CAM_PROFILE 353 MOTION_GROUP 354 MOTION_INSTRUCTION 356 OUTPUT_CAM 357 OUTPUT_COMPENSATION 358 deceleration 318 397 deceleration cam 399 dimension 401 Direct Commands supported commands 31 dwell 324 397 dwell cam 399 electronic 393 electronic camming 394 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Index error 407 408 410 error code 23 408 410 error codes 345 352 errors conflict 305 home in progress 305 inhibited 305 no master axis 305 not configured 305 redefine 305 same axis 305 time based programming 324 execution 409 execution schedule parameter 403 execution schedule parameters 407 F forward only 403 illegal dynamic change 407 408 410 immediate 403 407 immediate execution 404
490. uctured Text When Servo_Axis_Vars _ AutoRun turns on Run Servo_Axis at Auto_Speed If Auto_Speed changes then change the speed of the jog to the new value of Auto_Speed When Servo_Axis_Vars I Stop turns on stop Servo_Axis asl The SFC starts Step_007 when Servo_Axis_Vars l AutoRun turns on Step_000 When the SFC starts the step jog Servo_Axis The P1 qualifier limits this to the first scan of the step The construct and assignment limit the MCD instruction to just one scan when Auto_Speed changes AJ Servo Axis Servo_Axis MI Run_Jog 0 Auto Speed Unitspersec Step_001 Servo_Axis_Vars C Auto_ Accel UnitspersecZ Servo_Axis Vars C Auto Decel UnitspersecZ Trapezoidal 100 100 ofTime Disabled Programmed N Change_Auto_Speed tf Auto Speed lt gt Auto Speed Last Then MCD Servo Axis Servo_Axis MI Chamge Jog Jog Yes Auto Speed No 0 No 0 Unitspersec UnitspersecZ UnitspersecZ Auto Speed Last Auto Speed Stop AS Servo Axis Servo_Axis MI Stop_ Auto All Yes Servo_Axis_Vars C Auto Decel ofMaximum Yes Servo_Axis_Vars C Auto Decel Jerk ofTime Before the SFC leaves the step stop Servo_Axis The PO qualifier limits this to the last scan of the step Tran_OO3 Servo Axis Vars I Sto ea nn i 5 The SFC leaves the step when Servo_Axis_Vars Stop turns on 108 Rockwell Automation Publication MOTION RM002E EN P July 2015 Motion Move Instructions MAS MAH MAJ
491. ukemi ol che nates Baten ds a5 ou 52 MASD Changes to Status Bitsiais c cimsqan cians wartusvguaensan 52 MASD Examples s rasss toii dem eni ited e e S 52 Motion Axis Shutdown Reset MASR ccceceeneeeeneeees 54 Operands 2525 exedie So E ot ass eee a ahaa eas ates 54 Rockwell Automation Publication MOTION RMO02E EN P July 2015 11 Table of Contents borer 016 6 verter eterna e ter earner stor E Naa rE ea E A no OR 55 Arithmetic Status FACS gaspar peice ai wt Syriana Marie a eae teat ahveabacoes 56 Pale C nditions iy Mache bikie ey alow od eth chet Ae ee Meat 56 MASR Execution Conditions 0 ccc ccc ec cece een enes 56 IAE A Odes abies oe iain eat wa N N 57 MASR Changes to Status Bits ns i ivwdeui eugene ete as 57 IMASR Examples ateren anede a a n aN 58 Motion Direct Drive On MDO 3 Soca assaauasaindinkeoasdeae ed 59 PETA Ay es eaan E A a E cee 59 Description ssni n eea a a E de E tahoe 60 Loss of Feedback When Using an MDO Instruction 62 Arithmetic Status FACS Sa cid ace tod ai aaricararing ia g Watiennshete wid weeestieats 62 Fault Condoms oii ticle OE AL hc alntta 2 ott a aie 62 MDO Frecution Conditions 40 esesrie decors bala oa wou rie es 63 Eror Codes scutes ee cst eS a Ries 2568 a Sines 8 ote ENN 64 MDO Changes to Status Bits n savsavanscvor sade oeeeianwes 64 MDO Examples te Seti Ohad aia e E a a a S 64 Motion Direct Drive Off MDF ccceececeececeeeeeeees 65 Operands
492. ule Pending Execution Schedule Immediate 400 TAN StortDthCams MAPE na Moton Aws Poston Cam s 3 Motion Axit Potton Cam kan Save ans Seve O Steve Aus Save O ave Vetus Dave Veta CON ae Mester Aris master C Master Aur matter C Moten Certreal Acceleration Cam Motion Cortral Deceleration Cam KR Dwecton o Orecton 9 NEN o a Cam Protie Accel Pronat C Com Profie Docet Prose CJ Save Scaling 1 Save katy 1 porc Myter Scng 1 Master Sealing Executon Mode Orca Erection Mode Orce Execution Schodde hnodale Brecuhon Scheckse Pending Master Lock Poston oo Master Lock Postion Cam Lock Postion oo Cam Lock Posbon 20 Master Rotorence Command Master Reference Command Mester Drecton SOrectonsi Master Dwection Forward Onty Accelerston_Cam P Bet j jn Accel Docoieration C m P Bot s_n Dece a gt IF lt gt Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Scaling Cams Camming Appendix E You can use the scaling feature to determine the general form of the motion profile with a single stored cam profile With this feature one standard cam profile can be used to generate a family of specific cam profiles Scaling works slightly differently when it is used with an MAPC instruction that is in position cam profiles than when it is used with an MATC instruction that is in time cam profiles Scaling Position Cam Profiles A position cam profi
493. ult not occurred Finally do an immediate lock MAPC to resynchronize with the Cam Lock Position set to the calculated value Figure 16 Position Cam Timing Diagram cam Cam Profile Slave Axis Lock Position Master Axis Position On 4 Position Gam Lock Status OFF 0 On 1 a Position Gam Status OFF 0 Position Gam Initiated Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 173 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Condition prescan MAPC Execution Conditions Ladder Diagram Action The EN DN ER IP and PC bits are cleared The rung condition out is set to false Structured Text Action No action taken rung condition in is false EN bit is not affected The DN ER IP and PC bits are not affected The rung condition out is set to false The EN bit is cleared if either the DN or ER bit is set Otherwise the N A rung condition in is true The instruction executes The rung condition out is set to true N A Enableln N A Enabletn is always set The instruction executes instruction execution See the following figure postscan The rung condition out is set to false No action taken EN bit 0 Examine EN bit EN bit is set EN bit 1 Instruction
494. uning Profile Tune Decel Time Real seconds Measured Deceleration Time of Tuning Profile Tune Accel Real pos units sec Calculated Acceleration Time of Tuning Profile Tune Decel Real pos units sec Calculated Deceleration Time of Tuning Profile Effective Inertia Real mV KCPS2 Computed Effective Inertia of Drive Motor system Position Servo Bandwidth Real Hertz Calculated Maximum Position Servo Loop Bandwidth The previously listed output parameters generated by the MRAT instruction serve as inputs to a subsequent MAAT instruction which performs further tuning calculations and applies the results to various axis servo and dynamic configuration parameters Rockwell Automation Publication MOTION RMOO2E EN P July 2015 271 Chapter 5 Axis Parameter Tuning Direction Data Type Short Integer Motion Configuration Instructions MAAT MRAT MAHD MRHD Description AXIS_CIP_DRIVE The MRAT instruction is used to execute a tuning motion profile on the specified CIP axis MRAT requires no explicit input parameters simply enter or select the desired physical axis If the targeted axis does not appear in the list of available axes the axis has not been configured for operation Use the Tag Editor to create and configure a new axis The MRAT instruction uses the CIP Axis configuration parameters as input and output The input configuration parameters that MRAT uses are shown in this table Units
495. up to gearing speed at the instruction s defined Acceleration value If not enabled the Slave axis immediately locks onto the Master axis If the Master Axis is currently moving this condition results in an abrupt uncontrolled acceleration event of the Slave Axis which can cause the axis to fault 0 disabled 1 enabled Accel rate DINT Immediate Tag Acceleration rate of the Slave Axis in or Acceleration Units It is applied when the Clutch feature is enabled Accel units 124 DINT Immediate The units used to display the Acceleration value 0 units per sec 1 of maximum acceleration Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Structured Text MAG SlaveAxis MasterAxis MotionControl Direction Ratio SlaveCounts MasterCounts MasterReference RatioFormat Clutch AccelRate AccelUnits The operands are the same as those for the relay ladder MAG instruction See Table 45 MAG Relay Ladder Operand Descriptions on page 123 For the operands that require you to select from available options enter your selection as described in Table 46 Table 46 MAG Structured Text Operand Descriptions This Operand Has These Options That You Enter as Text Or Enter as a Number MasterReference actual 0 command 1 RatioFormat real 0 fraction_slave_master_counts 1 Clutch disabled 0 enabled 1
496. upports an absolute feedback device Absolute Homing mode can be used The only valid Home Sequence for an Absolute Homing mode is immediate In this case the absolute homing process establishes the true absolute position of the axis by applying the configured Home Position to the reported position of the absolute feedback device Prior to execution of the absolute homing process via the MAH instruction the axis must be in the Axis Ready state with the servo loop disabled Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 95 Chapter2 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV MAH Execution Condition Condition Ladder Diagram Action Structured Text Action Prescan The EN DN ER IP and PC bits are cleared No action taken The rung condition out is set to false Rung condition in is false The EN bit is cleared if either the DN or ER bit is set N A Otherwise the EN bit is not affected The DN ER IP and PC bits are not affected The rung condition out is set to false Rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instructio
497. urve profiles are more sensitive to parameter changes For more information see Analyzing Axis Motion on page 331 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Use Jerk Operands Use the jerk operands when the Stop Type is Jog or Move or the jog or move uses an S curve profile Under those conditions the instruction uses an S curve profile to stop the axis The instruction uses a constant deceleration rate for all other types of stops You must fill in the jerk operands regardless of the type of stop Use of Time To program and tune jerk enter it as a percent of the acceleration or deceleration time For more information see Tune an S curve Profile on page 327 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions MAS Error Codes See Error Codes ERR for Motion Instructions on page 345 MAS Extended Error Codes Use Extended Error Codes EXERR for more information about an error Table 33 MAS Extended Error Codes IfERRis And EXERRis Then Cause Corrective Action outside its first operand is 0 range For example if EXERR 4 then check the Decel Rate EXERR MAS Operand 0 Axis 1 Motion Control 2 Stop Type 3 Change Decel 4 Decel Rate Rockwell Automation Publication MOTION RMO02E
498. ve Axis slavel DN gt Master Axis master ER gt Motion Control MDAC1 IP gt Motion Type All AC Master Reference Command Structured Text MDAC slavel master MDAC1 All Command Rockwell Automation Publication MOTION RMOO2E EN P July 2015 297 Chapter 6 MDSC Functionality Table 128 MDAC Operand Descriptions Table 128 describes the Relay Ladder operands Operand Type Format Description Slave Axis AXIS_SERVO Tag The single axis being controlled by the Master Axis when the motion planner is in Master AXIS SERVO DRIVE Driven mode The Slave Axis can be any axis that has been configured AXIS_ GENERIC AXIS_GENERIC_DRIVE AXIS_CIP_DRIVE AXIS_VIRTUAL Master Axis AXIS_CONSUMED Tag Any configured single axis that the Slave Axis follows The Master Axis can be any axis that AXIS SERVO has been configured AXIS_SERVO_DRIVE AXIS_ GENERIC AXIS_GENERIC_DRIVE AXIS_CIP_DRIVE AXIS_VIRTUAL Motion Control MOTION_INSTRUCTION Tag Control tag for the instruction Motion Type UNIT Immediate Specifies the move type MAM MAJ MATC or MAM Master Offset Move for a Position Cam Tag executing on the Slave Axis that will be controlled by the Master Axis when a single axis motion instruction is programmed in Master Driven Mode 0 All 1 Move 2 Jog 3 Time Cam 4 Master Offset Move Master Reference UNIT Immediate Selects the Master Axis position source as either Actual Position 0 or Command Position Tag 1
499. ve and activate the axis servo loop Motion Servo On MSO 39 Relay ladder Disable the servo drive and deactivate the axis servo loop Motion Servo Off MSF 43 GA Force an axis into the shutdown operating state Once the axis is in the shutdown Motion Axis Shutdown MASD 48 operating state the controller will block any instructions that initiate axis motion Change an axis from an existing shutdown operating state to an axis ready operating Motion Axis Shutdown Reset MASR 54 state If all of the axes of a servo module are removed from the shutdown state as a result of this instruction the OK relay contacts for the module will close Enable the servo drive and set the servo output voltage of an axis Motion Direct Drive On MDO 59 Deactivate the servo drive and set the servo output voltage to the output offset voltage Motion Direct Drive Off MDF 65 Activate the drive control loops for the specified axis and run the motor at the specified Motion Drive Start MDS 69 speed Clear all motion faults for an axis Motion Axis Fault Reset MAFR 75 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 35 Chapter1 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR These are the five operating states of a non CIP axis Table 5 Operating States of a Non CIP Axis Operating State Description Axis Ready This is the normal power up state of the axis In this state e the servo module drive en
500. vel Limit Real pos units Maximum allowed excursion of Axis Tuning Velocity Real pos units sec Top Speed of Tuning Profile Damping Factor Real Damping Factor used to calculate the maximum Position Servo Bandwidth Rockwell Automation Publication MOTION RMO02E EN P July 2015 269 Chapter5 Motion Configuration Instructions MAAT MRAT MAHD MRHD Based on the configuration parameters in Table 112 MRAT execution generates a motion event on the specified axis that consists of a single triangular velocity profile or a series of three such profiles Tune Velocity must be within the maximum speed capability of the drive and motor The configured value for Tune Velocity should be set to the desired maximum operating speed of the axis so that the resulting tuning parameters are based on the dynamics of the system at that speed If the External Vel Servo Drive configuration bit parameter is TRUE indicating interface to an external velocity servo drive three pulses are applied to the axis The tuning velocity profile for this case is shown in Figure 32 Figure 32 Tuning Velocity Profile when True Tune Velocity Time If the External Vel Servo Drive configuration bit parameter is FALSE indicating interface to an external torque servo drive only one pulse is applied to the axis The tuning velocity profile is shown in Figure 33 Figure 33 Tuning Velocity Profile when False Tune Velocity Time 270 Rockwell Autom
501. ver the Minimum Position value must be less than the Maximum Position value for the registration event to occur For rotary axes both values must be less than the unwind value set in the motion controller s machine setup menu The Minimum Position value can be greater than the Maximum Position value for registration windows that cross the unwind point of the axis as shown in Figure 21 Figure 21 Position Window for Rotary Axis Minimum Maximum Position Position 0 Axis Position Rearming an MAR Instruction If your application requires rapid and continuous detection of a registration sensor we recommend that you use the following logic Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 Figure 22 Ladder Logic for Continuous Registration Detection Condition Registration Armed to start registration Waiting for Sensor EnableRegistration Registration_Rearmed MAR Motion Arm Registration mE Axis Axis_0 E DN Motion Control My_Registration ER Trigger Condition Positive_Edge lt IP gt Windowed Registration Disabled PO Min Position 0 Max Position 0 Input Number 2 Registration Armed Waiting for Sensor My_Registration IP Registration_Rearmed My_Registration EN Registration Armed Waiting for Sensor My_Registration PC Registration_Rearmed To rearm the MAR instruction the rung must change fro
502. vice on the targeted drive axis The Hookup Test Status attribute can be used to determine when the hookup test service has successfully completed Conditions can occur however that make it impossible for the drive to properly perform the operation When this is the case the test process is automatically terminated and a test error is reported that is stored in the Hookup Test Status output parameter 0 test process successful 1 test in progress 2 test process aborted 3 test process timed out 4 test process faulted 5 test failed no feedback 1 counts 6 test failed no feedback 2 counts 7 255 reserved Hookup Test Feedback USINT Reports the direction of axis travel during the last hookup test as detected by the drive s feedback 1 device Direction 1 0 The drive s feedback 1 device detected a positive direction that is increasing counts 1 The drive s feedback 1 device detected a negative direction that is decreasing counts 2 255 reserved The value for Hookup Test Feedback 1 Direction as determined by the hookup test does not depend on the current feedback motor or motion polarity attribute configuration This value combined with the user s definition of forward direction can be used to configure the various polarity attributes for the correct directional sense Hookup Test Feedback USINT Reports the direction of axis travel during the last hookup test as detected by the drive s feedback 2 device Directi
503. vo Fault Action This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it executes only ona transition For more information see Structured Text Programming on page 359 Specifying and Executing the Cam Profile To execute a MATC instruction a calculated Cam Profile data array tag must be specified Cam Profile array tags can be created by the Logix Designer tag editor or the MATC instruction by using the built in Cam Profile Editor or by executing an Motion Calculate Cam Profile MCCP instruction on an existing Cam array The data within the Cam Profile array can be modified at compile time by using the Cam Profile Editor or at run time with the Motion Calculate Cam Profile MCCP instruction In the case of run time changes a Cam array must be created in order to use the MCCP instruction The Status member of this Cam Profile Array is used to indicate that the Cam Profile array element has been calculated If execution of a camming instruction is attempted with any uncalculated elements in a cam profile the instruction errors The type parameter determines the type of interpolation applied between this cam array element and the next cam element 182 Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC
504. vo On MSO instruction to activate the drive amplifier for the specified axis and to activate the axis servo control loop Operands The MSO instruction supports the following operands e Relay Ladder e Structured Text Relay Ladder MSO Motion Servo On Axis al 9 Motion Control i Table 7 MSO Relay Ladder Descriptions Operand Type Format Description Axis AXIS_CIP_DRIVE Tag Name of the axis to perform operation on AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE Motion Control MOTION_INSTRUCTION Tag Structure used to access instruction status parameters Structured Text MSO Axis MotionControl The operands are the same as those for the relay ladder MSO instruction MOTION_INSTRUCTION Structure Table 8 MSO Motion_Instruction Structure Descriptions Enumerations Description EN Enable Bit 31 It is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN Done Bit 29 Itis set when the axis servo action has been successfully enabled and the drive enable and servo active status bits have been set ER Error Bit 28 It is set to indicate that the instruction detected an error such as if you specified an unconfigured axis Rockwell Automation Publication MOTION RMO02E EN P July 2015 39 Chapter 1 40 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS
505. when programming an MAS instruction Stop Motion Use this instruction to stop a specific type of motion or to stop all motion The instruction uses a trapezoidal profile and stops the axis When you want to stop only a certain type of motion but leave other motion processes running the axis could still be moving when the MAS instruction is complete The instruction uses an S curve profile to stop the axis only if the Stop Type is Jog or Move Stop Gearing or Camming Stop a gearing or position camming process by entering the slave axis to turn off the specific process and stop the axis If the master axis is a servo axis you can stop the master axis which in turn stops the slave without disabling the gearing or position camming TIP If the Master axis is moved manually while the Master axis was in a disabled state the actual position of the slave axis continues to track the Master s position regardless whether the MasterReference of the MAPC instruction is set to Actual or Command Stop a Master Offset Move Stop an Absolute or Incremental Master Offset move for Axis by entering the slave axis For deceleration and jerk enter the values and units for the master axis Instruction Changes Motion Parameters When you execute an MAS instruction the axis uses the new deceleration and jerk rates for the motion that s already in process This can cause an axis to overshoot its speed overshoot its end position or reverse direction S c
506. when the Master Axis is moving in the Reverse Direction The Master Axis is followed only Reverse Only while it is moving in the Reverse Direction 3 Position Motion starts for example the Slave locks to the Master Axis when the Master Axis crosses the Lock Position while it Forward Only is moving in the Forward Direction The Master Axis is followed only while it is moving in the Forward Direction If the start position of the Master Axis equals the Lock Position and this enumeration is selected then motion will not start because the Lock Position will not be crossed 4 Position Reverse Motion starts when the Master Axis crosses the Lock Position while it is moving in the Reverse Direction The Master Only Axis is followed only while it is moving in the Reverse Direction If the start position of the Master Axis equals the Lock Position and this enumeration is selected then motion will not start because the Lock Position will not be crossed Se ee eee 310 Rockwell Automation Publication MOTION RMO02E EN P July 2015 MDSC Functionality Chapter 6 Input Parameter Data Type Description Value Lock Position IMMEDIATE Lock Position in Master Driven Mode Default 0 REAL or After the slave axis motion has been initiated by a MAM or MATC it will go IP but will not start moving until TAG the master axis crosses the Master Lock Position This is an absolute position plus or minus on the Master Axis in Master Axis units You can spe
507. wn Reset structured text MATC 178 relay ladder Motion Axis Time Cam structured text MAW 216 relay ladder Motion Arm Watch structured text MCD 133 relay ladder Motion Change Dynamics structured text Rockwell Automation Publication MOTION RMO02E EN P July 2015 7 Motion Instruction Locator Instruction MCCP Motion Calculate Cam Profile MCSV Motion Calculate Slave Values MDAC Languages relay ladder structured text relay ladder structured text relay ladder structured text Instruction Languages MDF relay ladder Motion Direct Drive Off structured text MDOC relay ladder Motion Disarm Output Cam structured text MDO relay ladder Motion Direct Drive On structured text MDR relay ladder Motion Disarm Registration structured text MDS relay ladder Motion Drive Start structured text MDW relay ladder Motion Disarm Watch structured text MGSD relay ladder Motion Group Shutdown structured text MGS relay ladder Motion Group Stop structured text MGSP relay ladder Motion Group Strobe Position structured text MGSR relay ladder Motion Group Shutdown Reset structured text o MRAT relay ladder Motion Run Axis Tuning structured text MRHD relay ladder Motion Run Hookup Diagnostics structured text MRP relay ladder Motion Redefine Position structured text MSF relay ladder Motion Servo Off structured text MSO Motion Servo On Roc
508. xis in the specified group Table 75 MGS Programmed Stop Action Modes Descriptions Mode Description Fast Stop Foran axis configured for a Fast Stop the MGS instruction initiates a controlled stop much like that initiated by an MAS instruction In this case the Motion Group Stop MGS instruction brings the axis motion to a controlled stop without disabling the axis servo loop It is useful when a fast decelerated stop the axis is desired with servo control retained The MGS instruction uses the configured Maximum Deceleration of the axis to stop only the single axis motion The coordinated move portion of the axis uses the coordinated system configured Maximum Deceleration to stop the axis When a Fast Stop is used to stop a Motion Drive Start MDS instruction the Direct Command feature is disabled Additionally the affected axis decelerates to a stop by using its ramp deceleration Fast Disable For an axis configured for a Fast Disable the MGS instruction initiates a controlled stop much like that initiated by an MAS instruction with the exception that the drive is disabled when the axis comes to a stop Use MGS when a fast decelerated stop the axis is desired before the drive is disabled The MGS instruction uses the configured Maximum Deceleration of the axis to stop only the single axis motion The coordinated move portion of the axis uses the coordinated system configured Maximum Deceleration to stop the axis Integrated Motion
509. xt Stop the axes of a coordinate system or cancel a transform Motion Coordinated Stop MCS Relay ladder e Structured text Initiate a controlled shutdown of all of the axes of the specified coordinate system Motion Coordinated Shutdown MCSD Relay ladder e Structured text Start a transform that links two coordinate systems together Motion Coordinated Transform ct e Relay ladder e Structured text Calculate the position of one coordinate system with respect to another coordinate Motion Calculate Transform Position MCTP e Relay ladder system e Structured text Initiate a reset of all of the axes of the specified coordinate sy state to the axis ready state and clear the axis faults E 1 You cannot use this instruction with SoftLogix controllers Camming Concepts stem from the shutdown Motion Coordinated Shutdown Reset MCSR e Relay ladder e Structured text Camming is the process of coordinating the movement of two axes a master axis and a slave axis where the movement of one is completely dependent on the movement of the other There are two types of camming e Mechanical Camming e Electronic Camming IMPORTANT Logix5000 motion control applications use electronic camming A brief description of mechanical camming provides you an understanding of both types of camming However the remainder of this publication describes how to use electronic camming in your motion control app
510. xt Programming on page 359 Arithmetic Status Flags The Arithmetic Status Flags are not affected Fault Conditions There are no fault conditions Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion State Instructions MSO MSF MASD MASR MDO MDF MDS MAFR Chapter 1 MSO Execution Conditions Condition Ladder Diagram Action Structured Text Action Prescan The EN DN and ER bits are cleared No action taken The rung condition out is set to false Rung condition in is false The EN bit is cleared if either the DN or ER bit is N A set Otherwise the EN bit is not affected The DN and ER bits are not affected The rung condition out is set to false Rung condition in is true The instruction executes N A The rung condition out is set to true Enableln N A Enableln is always set The instruction executes Instruction execution See the following figure Postscan The rung condition out is set to false No action taken Examine EN bit EN bit 1 EN bit 0 EN bit remains set Rung condition out remains set to true Error Codes EN bit is set Yes Instruction detects an error EN bit remains set DN bit remains clear ER bit is set Rung condition out remains true Processing runs to completion in motion task Rung condition out is set to true EN bit remains set DN bit is set
511. y the Logix Designer application The following conditions can cause this error e The Master and Slave Axis are the same e Master or Slave Axis is not configured e Master or Slave Axis is inhibited e Redefine position is in progress e Home ofan axis is in progress e MDSC ALL Conflict The ALL parameter is not allowed while a Slave axis motion generator for example jog motion is already assigned Changing the motion mode between Master Driven and Time Driven mode and vice versa is automatically performed when a new motion instruction such as MAM MAJ and MATC is activated if the new instruction has been programmed in a different mode than the active motion instruction When the new motion instruction is activated the system will assume that the desired mode for the new instruction is the mode Master Driven or Time Driven as specified in the programmed units of the speed parameter contained in the new instruction At all times including when changing modes the Accel Decel and Jerk must all be programmed in the same units as the Speed parameter or the instruction will get a MDSC_UNITS_CONFLICT_ERROR error A runtime MDSC_INVALID_MODE_OR_MASTER_CHANGE error will occur only if you attempt to change from Time Driven mode to MDSC mode or vice versa with an MCD instruction If you change from Time Driven mode to Master Driven mode while an axis is moving and Lock Direction is not Immediate Forward or Reverse you will get
512. ype The operands are the same as those for the relay ladder MDOC instruction Rockwell Automation Publication MOTION RMOO2E EN P July 2015 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC Chapter 4 Enter your selection for the operands that require you to select from available options This Operand Has These Options Which You Enter as Text Or Enter as a Number all specific Disarm Type MOTION_INSTRUCTION Structure Table 104 MDOC MOTION_INSTRUCTION Enumerations Descriptions Enumerations Description EN Enable Bit 31 It is set when the rung makes a false to true transition and remains set until the rung goes false DN Done Bit 29 It is set when the Output Cam s have been successfully disarmed ER Error Bit 28 It is set to indicate that the instruction detected an error Description The MDOC instruction disarms a specific or all output cams for a specified axis depending on the selected disarm type The axis provides the position input to the Output Cam The execution target defines a specific Output Cam from the set that is connected to the specified axis Executing the Instruction This is a transitional instruction e In relay ladder toggle the rung condition in from cleared to set each time the instruction executes e In structured text condition the instruction so that it only executes on a transition For more information see Structured Text Programming
513. ys set until the rung goes false DN Done Bit 29 The done bit is set when the axis time cam instruction is successfully initiated Rockwell Automation Publication MOTION RMO02E EN P July 2015 Motion Move Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC MCSV Chapter 2 Table 67 MATC Bit Descriptions Enumerations Description ER Error Bit 28 The error bit indicates when the instruction detects an error such as if the axis is not configured IP In Process Bit 26 The in process bit is set on positive rung transition and cleared when terminated by a stop command merge shutdown or servo fault PC Process Complete Bit 27 The Process Complete bit is cleared on positive rung transition and set in Once Execution Mode when the time leaves the time range defined by the currently active cam profile Description Use the MATC instruction for electronic camming of an axis according to a specified time cam profile The direction of axis motion relative to the cam profile is defined by a very flexible Direction input parameter The camming Direction can be explicitly set as the Same or Opposite or set relative to the current camming direction as Reverse or Unchanged The cam profile can be configured via the Execution Schedule parameter to execute Immediately or Pending completion of a currently executing time cam profile The cam profile can also be executed Once or Continuously by specifying t

Motion-RM002 - Rockwell Automation

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