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Logix Controller Motion Instruction Set

1. Mnemonic Data Description Type RegistrationPosition REAL Registration 1 Position in Position Units Registration2Position REAL Registration 2 Position in Position Units Registration1Time DINT Registration 1 Time as CST time in microseconds Registration2Time DINT Registration 2 Time as CST time in microseconds InterpolationTime DINT Interpolation Time as CST time in microseconds InterpolatedActualPosition REAL Interpolated Actual Position in Position Units M asterOffset REAL Master Offset in M aster Position Units StrobeM asterOffset REAL Strobe M aster Offset in M aster Position Units StartM asterOffset REAL Start Master Offset in M aster Position Units CommandPosition REAL Command Position in Position Units StrobeCommandPosition REAL Strobe Command Position in Position Units StartCommandPosition REAL Start Command Position in Position Units CommandVelocity REAL Command Velocity in Position Units Sec CommandAcceleration REAL Command Acceleration in Position Units Sec2 InterpolatedCommandPosition REAL Interpolated Command Position in Position Units AccelStatus BOOL Setif the axis is currently being commanded to accelerate DecelStatus BOOL Setif the axis is currently being commanded to decelerate M oveStatus BOOL Setif a M ove motion profile is currently in progress Cleared when the M ove is complete or is Superseded by some other motion operation J ogStatus BOOL Set if a og motion
2. no 1 lt P rung condition out is set to true processing runs to completion in motion task Y EN bit remains set yes DN bit is set ER bit remains clear rung condition out is not affected function complete no EN bit remains set DN bit remains clear ER bit remains clear rung condition out is not affected Arithmetic Status Flags not affected Fault Conditions none MGSR Error Codes ERR Error Code Description 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration Publication 1756 RM 007C EN P J uly 2001 MGSP Example Other Formats Motion Group Instructions 4 15 MGS Motion Group Strobe Position Group group EE Motion control group _MGSP When the input conditions are true the controller latches the current command and the actual position of all axes in group1 Format Syntax neutral text MGSP group motion_control ASCII text MGSP group motion_control Publication 1756 RM 007C EN P J uly 2001 4 16 Motion Group Instructions Publication 1756 RM 007C EN P J uly 2001 Introduction Motion Arm Watch MAW Chapter 5 Motion Event Instructions MAW MDW MAR MDR MAOC MDOC ATTENTION Tags used for the motion control attribute of instructions should only be used once Re use of the motion co
3. Operands MRAT Operand Type Format Description Mo Run Axis Tuning SNS Axis AXIS tag axis structure monn eon Spe Motion MOTION tag motion structure PCS control INSTRUCTIO N MOTION_INSTRUCTION Structure Mnemonic Data Type Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN BOOL The done bit indicates when the instruction initiates a tuning process ER BOOL The error bit indicates when the instruction detects an error such as if the axis is not configured IP BOOL e The in process bit sets when axis tuning is successfully initiated e t resets when one of the follow ing events occurs The MRAT instruction completes Tuning is aborted PC BOOL The process complete bit sets when the instruction completes a tuning process Execution Condition Action prescan The EN bitis cleared The DN bit is cleared The ER bit is cleared The IP bit is cleared The PC bit is cleared 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 EN bit is not affected The DN bit is not affected The ER bit is not affected The IP bit is not affected The PC bit is not affected The rung condition out is set to false Publication 1756 RM 007C EN P J uly 2001 6 6 Motion Configuration Instr
4. EN bit 0 examine EN bit EN bit is set EN bit remains set yes DN bit remains clear gt ER bit is set rung condition out remains true EN bit remains set rung condition out remains gt set to true instruction detects an error no 1 lt P rung condition out is set to true processing runs to completion in motion task Y EN bit remains set yes DN bit is set ER bit remains clear rung condition out is not affected function complete no EN bit remains set DN bit remains clear ER bit remains clear rung condition out is not affected Arithmetic Status Flags not affected Fault Conditions none Publication 1756 RM 007C EN P J uly 2001 MDF Error Codes ERR M DF Changes to Servo Module LEDs M DF Changes to Axis Status Bits M DF Example Other Formats M otion State Instructions 2 23 Error Code Description 3 The instruction tried to execute while another instance or this instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the preceding instruction 4 The axis servo loop is closed 8 The axis is not configured as a servo axis 11 The axis is not configured 12 M essaging to the servo module failed 19 The motion grou
5. Mnemonic Data Description Type M arkerDistance REAL Marker Distance in Position Units VelocityOffset REAL Velocity Offset in Position Units Sec TorqueOffset REAL Torque Offset from 100 to 100 TorqueCommand REAL The command when operating in Torque Mode in terms of rated TorqueFeedback REAL The torque feedback when operating in Torque Mode in terms of rated PosDynamicTorqueLimit REAL The currently operative maximum positive torque current limit magnitude It should be the lowest value of all torque current limits in the drive at a given time including amplifier peak limit motor peak limit user current limit amplifier thermal limit and motor thermal limit NegDynamicTorqueLimit REAL The currently operative negative positive torque current limit magnitude It should be the lowest value of all torque current limits in the drive at a given time including amplifier peak limit motor peak limit user current limit amplifier thermal limit and motor thermal limit MotorCapacity REAL The present utilization of motor capacity as a percent of rated capacity DriveCapacity REAL The present utilization of drive capacity as a percent of rated capacity PowerCapacity REAL The present utilization of the axis power supply as a percent of rated capacity BusRegulatorCapacity REAL The present utilization of the axis bus regulator as a percent of rated capacity MotorElectricalAngle REAL The present electrical angle of the motor
6. 000 5 14 Motion Disarm Output Cam MDOC 5 23 Motion Configuration Instructions mioduction soa E vel E E E E te 6 1 Motion Apply Axis Tuning MAAT 5 6 2 Motion Run Axis Tuning MRAT 0005 6 4 Motion Apply Hookup Diagnostics MAHD 6 8 Motion Run Hookup Diagnostics MRHD 6 10 Appendix A Index Table of Contents iii Structures IWPOUMCHO Nh cian r da Dee ha ence ea heey eS A 1 AXIS Str ct es e s cat ate weak BA et ee ated agin ad oh A 1 AXIS CONSUMED SUUCIINGs cai sted od dpa eo eens A 1 AXIS SERVO Structure 64 eools chant geo eedee bate A 5 AXIS SERVO DRIVE Structure neunana A 12 AXIS VIRTUAL Structure nuunuu A 21 MOTION GROUP Structlires lt 226s 404e004000 5 A 26 MOTION INSTRUCTION Structure A 27 CAM SHMIC TINGS xen ro Soci e 6 So Oak Pele GSK Rae OSG BOE Sera A 29 CAM PROFILE Structure Goined ee abuha dw cos A 30 OUTPUT CAM Structure te Sie kt eanttres eiaste pate eae gees A 30 OUTPUT COMPENSATION Structure A 31 Publication 1756 RM 007C EN P J uly 2001 Table of Contents iv Publication 1756 RM 007C EN P J uly 2001 Introduction Task Goal Installing the controller and its components Preface Using This M anual This manual is one of several ControlLogix documents Documents Logix5550 Controller Quick Start publication 1756 10 1 Logix5550 M emory Board Instal
7. EN bit remains set DN bit is not affected ER bit remains clear IP bitis set PC bit remains clear Y EN bit remains set DN bit remains clear ER bit is set IP bit remains clear PC bit remains clear rung condition out is set to rung condition out is set to true true process complete no process aborted affected processing runs to completion in motion task EN bit remains set DN bit is set ER bit remains clear IP bitis cleared PC bit is set rung condition out is not affected EN bit remains set DN bit is set ER bit remains clear LIP bit is cleared PC bit remains clear rung condition out is not Arithmetic Status Flags not affected Fault Conditions none Publication 1756 RM 007C EN P J uly 2001 MAH Error Codes ERR Motion Move Instructions 3 9 Error Code Error Message Description 3 Execution Collision The instruction tried to execute while another instance o this instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the preceding instruction 1 Shutdown State Error The axis is in the shutdown state 8 Illegal Axis Type The axis is not configured as a servo or virtual axis 11 Axis Not Configured The axis is not configured 12 Servo Message Failure Messaging to the se
8. Publication 1756 RM 007C EN P J uly 2001 Mnemonic Data Type LIP BOOL Motion Group Instructions 4 3 Description e The in process bit sets when the motion group stop is successfully initiated e t resets when the M GS instruction stops all the axes in the group and disables feedback PC BOOL The process complete bit sets after the instruction stops all the axes Execution Condition prescan Action The EN bit is cleared The DN bit is cleared The ER bit is cleared The IP bit is cleared The PC bit is cleared 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 EN bit is not affected The DN bit is not affected The ER bit is not affected The IP bit is not affected The PC bit is not affected The rung condition out is set to false Publication 1756 RM 007C EN P J uly 2001 4 4 Motion Group Instructions Condition rung condition in is true examine EN bit EN bit 1 EN bit remains set rung condition out remains set to true Action 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 set to EN bit remains set DN bit is set ER bit remains clear IP
9. Ratio format DINT immediate select the format of the ratio between the slave and the master axis e real gear ratio e integer fraction of slave encoder counts to master encoder counts Clutch DINT immediate select whether or not to ramp the Slave axis to gearing speed using the acceleration value e disabled e enabled Publication 1756 RM 007C EN P J uly 2001 3 22 M otion M ove Instructions MOTION_INSTRUCTION Structure Mnemonic Data Type Operand Type Format Description Accel rate SINT INT immediate or acceleration of the slave axis for DINT or tag clutching REAL Accel units DINT immediate select the acceleration units for clutching e of maximum acceleration e units per sec2 Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until the rung condition in goes false DN BOOL The done bit indicates when the instruction initiates an axis gear ER BOOL The error bit indicates when the instruction detects an error such as if the axis is not configured IP BOOL e The in process bit sets when the gearing process is successfully initiated e t resets when one of the following events occurs e The gear is aborted e A servo fault terminates the MAG instruction 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 tha
10. Other Formats Motion Axis Shutdown Reset M ASR M otion State Instructions 2 13 BitName State Meaning TimeCamLockedStatus False The Tcam is stopped and the lock is cleared PositionCamPendingStatus False The pending PCAM profile is cancelled TimeCamPendingStatus False The pending Tcam profile is cancelled 445D Motion Axis Shutdown Axis Motion control axis jt axis1_MASD When the input conditions are true the controller forces axis into the shutdown operating state Format Syntax neutral text MASD axis motion_control ASCII text MASD axis motion_control The MASR instruction is an output instruction Use the MASR instruction to change an axis from an existing shutdown operating state to an axis ready operating 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 Because this instruction can close the OK contacts you can use this instruction to close the contacts in the E stop string that control the power to the drive system Once you close the E stop string you can reapply power to the drive TIP gt The MASR instruction uses message type timing To use the MASR instruction configure the axis as either a servo axis ora position only axis Publication 1756 RM 007C EN P J uly 2001 2 14 M otion State Instructions Operan
11. 35 The Logix controller does not support the specified Output Cam 36 Either the size of the Output Cam array is not supported or the value of one of its members is out of range 37 Either the size of the Output Compensation array is not supported or the value of one of its members is out of range 38 The axis data type is illegal The axis data type is incorrect for the operation 39 You have a conflict in your process Test and Tune cannot be run at the same time 40 You are trying to run a MSO or MAH instruction when the drive is locally disabled 41 The homing configuration is illegal You have an absolute homing instruction when the Homing sequence is not immediate Publication 1756 RM 007C EN P J uly 2001 Structures A 29 Mnemonic Data Type Description STATE SINT The execution state is always set to 0 when the controller sets the EN bit for a motion instruction Other execution states depend on the motion instruction STATUS SINT The message status value indicates the status condition of any message associated with the motion function Value Description 0000 The message was successful 0001 The module is processing another message 0002 The module is waiting for a response to a previous message 0003 The response to a message failed 0004 The module is not ready for messaging SEGMENT DINT A segment is the distance from one point up to but not including the next point A SEGMENT gives the relative position
12. EN bit remains set DN bit remains clear ER bit is set rung condition out is set to true EN bit remains set DN bit is set ER bit remains clear Y rung condition out is set to true processing runs to completion in motion task process complete EN bit remains set DN bit remains set ER bit remains clear rung condition out is not affected process aborted EN bit remains set DN bit remains set ER bit remains clear rung condition out is not affected Arithmetic Status Flags Fault Conditions none Publication 1756 RM 007C EN P J uly 2001 not affected M DW Error Codes ERR MDW Changes to Axis Status Bits MDW Example Other Formats Motion Arm Registration MAR M otion Event Instructions 5 7 Error Code Description 3 he instruction tried to execute while another instance of this instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the preceding instruction 8 The axis is not configured as a servo or position only axis 11 The axis is not configured 12 M essaging to the servo module failed 18 The axis type is configured as unused 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration BitName State Meaning WatchEvArmStatus False The a
13. none Error Code Description 3 The instruction tried to execute while another instance of this instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the preceding instruction 8 The axis is not configured as a servo or position only axis 11 The axis is not configured 12 M essaging to the servo module failed 18 The axis type is configured as unused 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration BitName State Meaning RegEvArmStatus True The axis is looking for a registration event RegEvStatus False The previous registration event is cleared MAR Example MAR Motion Arm Registration Axis Motion control axis1_MAR Trigger Condition Negative_Edge Windowed registration Enabled Min Position value_1 2 Max Position value_2 When the input conditions are true the controller arms servo module registration event checking for axis1 Other Formats Format Syntax neutral text MAR axis motion_control trigger registration minimum maximum ASCII text MAR axis motion_control trigger registration minimum maximum Publication 1756 RM 007C EN P J uly 2001 M otion Event Instructions 5 11 Motion Disarm Registration The MDR instruction is an output instruction M DR Use the MDR instruction to disarm servo module registration even
14. EN bit 1 EN bit remains set rung condition out remains set to true 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 set to EN bit remains set DN bit is set ER bit remains clear IP bitis set PC bit remains clear Y rung condition out is set to true true no Arithmetic Status Flags not affected Fault Conditions none Publication 1756 RM 007C EN P J uly 2001 processing runs to completion in motion task process complete process aborted EN bit remains set DN bit remains set ER bit remains clear IP bitis cleared PC bit is set rung condition outis 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 MAS Error Codes ERR Motion Move Instructions 3 5 Error Code Error Message Description 5 Servo Off State Error The instruction tried to execute on an axis whose servo loop is not closed 7 Shutdown State Error The axis is in the shutdown state 8 Illegal Axis Type The axis is not configured as a servo or virtual axis type 11 Axis Not Configured The axis is not configured 13 Parameter Out Of Range The instruction tried to use a parameter that is outsid
15. J uly 2001 3 34 M otion M ove Instructions Format neutral text MCCP Example Other Formats Syntax MCCF Motion Calculate Cam Profile Motion Control MCCP_O2_contral Cami cam_O1 O Length PROFILE_CAM_LENGTH 30 Ae Start Slope 1 0 1 0 End Slope Cam Profile CamFrofile_01 0 MCCP motion_control cam length start slope end slope cam profile ASCII text MCCP motion_control cam length start slope end slope cam profile Motion Axis Position Cam MAPC Publication 1756 RM 007C EN P J uly 2001 The MAPC function performs electronic camming between any two axes specified in the Cam Profile Upon execution of this instruction the axis specified as the slave is synchronized to the axis designated as the master Parameters for this instruction control direction scaling position execution mode and execution schedule The MAPC instruction executes a position cam profile set up by a previous MCCP block or by the RSLogix5000 Cam Profile Editor Position cams let you implement non linear electronic gearing relationships between two axes This instruction has no maximum limits for velocity acceleration or deceleration The speed acceleration and deceleration are determined by the master axis motion and the designated cam profile To execute an MAPC instruction a calculated Cam Profile data array must be specified The MAPC instruction uses immediate and process
16. Format Syntax Neutral text MATC axis motion_control direction cam_profile distance_scaling time_scaling execution_mode execution_schedule ASCII text MATC axis motion_control direction cam_profile distance_scaling time_scaling execution_mode execution_schedule Publication 1756 RM 007C EN P J uly 2001 Introduction Chapter 4 Motion Group Instructions MGS MGSD MGSR MGSP ATTENTION Tags used for the motion control attribute of instructions should only be used once Re use of the motion control tag in other instructions can cause unintended operation of the control variables Motion group instructions control a group of axes The motion group instructions are If you want to Use this instruction See page Initiate a stop of motion on a group MGS 4 2 of axes Force all axes in a group into the MGSD 4 5 shutdown operating state Transition a group of axes from the MGSR 4 8 shutdown operating state to the axis ready operating state Latch the current command and M GSP 4 12 actual position of all axes in a group Publication 1756 RM 007C EN P J uly 2001 4 2 Motion Group Instructions Motion Group Stop MGS The Motion Group Stop MGS instruction initiates a stop for all motion in progress on all axes in the specified motion group The axes are stopped by a method configured individually for each axis or as a group based on the selected option of the Stop Mode
17. If the DRIVE and FDBK LEDs are blank the axis is not configured For a servo axis the following LEDs apply If the DRIVE LED is And the FDBK LED is Then the operating state of the axis is Flashing green Flashing green Axis ready Solid green Flashing green Direct drive control Solid green Solid green Servo control Flashing or solid red Flashing or solid red Axis faulted Flashing or solid green Flashing red Flashing green Shutdown M otion State Instructions 2 3 For a position only axis the following LEDs apply Ifthe DRIVE LEDis And the FDBK LED is Then the operating state of the axis is Blank Flashing green Axis ready Blank Flashing or solid red Axis faulted M otion Servo On MSO The MSO instruction is an output instruction Use the MSO instruction to enable the servo drive and to activate the axis servo loop A common use for this instruction is activating an axis servo loop in preparation for commanding motion The MSO instruction uses message type timing To use the MSO instruction configure the axis as a servo axis Operands Operand Type Format Description MSO Axis AXIS ta axis structure Motion Servo On CEN 9 Axis Gt DN Motion MOTION tag motion structure Motion control CER 3 control INSTRUCTION MOTION_INSTRUCTION Structure Mnemonic Data Type Description EN BOOL The enable bit indicates when the instruction is enabled It remains set unt
18. Publication 1756 RM 007C EN P J uly 2001 Format Syntax neutral text MAH axis motion_control j ASCII text MAH axis motion_control The MAJ instruction is an output instruction Use the MAJ instruction to initiate a jog motion profile for an axis To stop an axis jog use the Motion Axis Jog MAJ instruction with a speed of zero or the Motion Axis Stop MAS instruction The MAJ instruction uses immediate and process type timing To use the MAJ instruction e Configure the axis as a servo or virtual axis e Ensure that the axis operating state is servo on if the axis is a servo Motion Axis Jog Axis Motion control Direction Speed Speed units Accel rate Accel units Decel rate Decel units Profile Merge Merge speed Operands M otion M ove Instructions 3 11 Operand Type Format Description Axis AXIS tag axis structure Motion MOTION tag motion structure control INSTRUCTIO N Direction SINT INT or immediateor select the direction of the jog DINT tag e 0 forward jog e 1 reverse jog Speed SINT INT immediateor speed to jog the axis DINT or tag REAL Speed units DINT immediate select the speed units e of maximum speed e units per sec Accel rate SINT INT immediate or acceleration rate of the axis DINT or tag REAL Accel units DINT immediate select the acceleration units e of maximum acceleration
19. brands in industrial automation including Allen Bradley controls Reliance Electric power transmission products Dodge mechanical power transmission components and Rockwell Software Rockwell Automation s unique flexible approach to helping customers achieve a competitive advantage is supported by thousands of authorized partners distributors and system integrators around the world Allen Bradley PRANE DOGE kio Americas Headquarters 1201 South Second Street Milwaukee WI 53201 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 European Headquarters SA NV Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Headquarters 27 F Citicorp Centre 18 Whitfield Road Causeway Bay Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Automation Publication 1756 RM 007C EN P J uly 2001 PN 957564 03 Supersedes Publication 1756 RM 007B EN P February 2001 2001 Rockwell International Corporation Printed inthe U S A
20. e units per sec Decel rate SINT INT immediate or deceleration rate of the axis DINT or tag REAL Decel units DINT immediate select the deceleration units e of maximum deceleration e units per sec Profile DINT immediate select the velocity profile to run the jog e trapezoidal e S curve M erge DINT immediate select whether to turn all axis movement into pure jog e disabled e enabled Merge speed DINT immediate if you enabled M erge select the speed of the jog profile e programmed value in the speed field current axis speed Publication 1756 RM 007C EN P J uly 2001 3 12 M otion M ove Instructions MOTION_INSTRUCTION Structure Mnemonic DataType Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until the rung condition in goes false DN BOOL The done bit indicates when the instruction initiates an axis jog ER BOOL The error bit indicates when the instruction detects an error such as if the axis is not configured IP BOOL e The in process bit sets when the jog process is successfully initiated e t resets when one of the following events occurs e Another MAJ instance supersedes the current instruction e The jog is aborted e A servo fault terminates the MAJ instruction 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 indica
21. n 2 M APC and M ATC instructions OUTPUT CAM Structure The OUTPUT_CAM data type is an array that defines the specifics for 7 each Output Cam element The OUTPUT_CAM contains the following members Mnemonic 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 error 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 bitis 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 P
22. out is not affected Arithmetic Status Flags not affected Fault Conditions none Publication 1756 RM 007C EN P J uly 2001 MSO Error Codes ERR MSO Changes to Servo Module LEDs MSO Changes to Axis Status Bits MSO Example M otion State Instructions 2 5 Error Code Description 3 The instruction tried to execute while another instance or this instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the preceding instruction 7 The axis is in the shutdown state 8 The axis is not configured as a servo position only or virtual axis 11 The axis is not configured 12 M essaging to the servo module failed 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration 20 The axis is in the faulted state 21 The group is in the faulted state 22 The instruction was attempted while the axis was in motion 24 The controller attempted to execute an M DO MSO MAH MAJ MAM MCD MAPC MATC M AG M RAT or M RHD instruction when the controller was in the test mode This LED Will change to Meaning FDBK Solid green Servo action is enabled DRIVE Solid green The drive enable output is active BitName State Meaning ServoActStatus True e Axis is in the servo on state e Servo loop is active DriveEnableStatus True The
23. 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 operation 2 Pulsed The output bit is set for the latch operation and for the on duty state of the 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 forthe 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 in which 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 Publication 1756 RM 007C EN P J uly 2001 A 32 Structures Publication 1756 RM 007C EN P J uly 2001 A AXIS Structures A 1 AXIS CONSUMED A 1 AXIS_SERVO A 5 AXIS_SERVO_DRIVE A 12 AXIS_VIRTU
24. 42 motion calculate cam profile 3 32 motion change dynamics 3 25 motion configuration introduction 6 1 M AAT 6 2 MAHD 6 8 M RAT 6 4 MRHD 6 10 motion direct drive off 2 20 motion direct drive on 2 17 motion disarm registration 5 11 motion disarm watch 5 5 motion event introduction 5 1 MAOC 5 14 5 23 MAR 5 7 MAW 5 1 MDR 5 11 MDW 5 5 motion group introduction 4 1 MGS 4 2 MGSD 4 6 MGSP 4 13 MGSR 4 9 motion group shutdown 4 6 motion group shutdown reset 4 9 Publication 1756 RM 007B EN P February 2001 l 2 Index motion group stop 4 2 motion group strobe position 4 13 motion move introduction 3 1 MAG 3 20 MAH 3 6 MAJ 3 10 MAM 3 15 M APC 3 34 MAS 3 2 MATC 3 42 MCCP 3 32 MCD 3 25 MRP 3 29 motion redefine position 3 29 motion run axis tuning 6 4 motion run hookup diagnostics 6 10 motion servo off 2 6 motion servo on 2 3 motion state introduction 2 1 M AFR 2 24 MASD 2 9 Publication 1756 RM 007B EN P February 2001 MASR 2 13 M DF 2 20 MDO 2 17 MSF 2 6 MSO 2 3 M RAT instruction 6 4 M RHD instruction 6 10 MRP instruction 3 29 M SF instruction 2 6 MSO instruction 2 3 P process motion instructions 1 5 S structures AXIS A 1 CAM A 29 CAM _ PROFILE A 30 MOTION_GROUP A 26 MOTION_INSTRUCTION A 27 Index 1 3 Publication 1756 RM 007B EN P February 2001 Reach us now at www rockwellautomation com Wherever you need us Rockwell Automation brings together leading
25. DINT A Set of bits that are set when an Output Cam is waiting for an armed Output Cam to move beyond its cam start cam end position OutputCamLockStatus DINT A setof bits that are set when an Output Cam is locked to the M aster Axis OutputCamTransitionStatus DINT A setof bits that are set when the transition from the current armed Output Cam to the pending Output Cam is in process The bit number corresponds with the execution target number One bit per execution target Publication 1756 RM 007C EN P J uly 2001 A 26 Structures M OTION_ GROUP Structure There is one MOTION GROUP structure per controller This structure contains status and configuration information about the motion group Mnemonic Data Type Description GroupStatus DINT The status bits for the group Bit Number Data Type Description InhibStatus 00 BOOL inhibit status GroupSynced 01 BOOL synchronization status M otionFault DINT The motion fault bits for the group Bit Number Data Type Description ACAsyncConnFault 00 BOOL asynchronous connection fault ACSyncConnFault 01 BOOL synchronous connection fault controller declared ServoFault DINT The servo module fault bits for the group Bit Number Data Type Description POtrviFault 00 BOOL positive overtravel fault NOtrvlFault 01 BOOL negative overtravel fault PosErrorFault 02 BOOL position error fault EncCHA LossFault 03 BOOL encoder channel A loss fault EncCHBLossFault 04 BOOL enc
26. DINT The motion status bits for your axis Bit Number Data Type Description AccelStatus 00 BOOL Acceleration Status DecelStatus 01 BOOL Deceleration Status M oveStatus 02 BOOL M ove Status J ogStatus 03 BOOL J og Status GearingStatus 04 BOOL Gearing Status HomingStatus 05 BOOL Homing Status StoppingStatus 06 BOOL Stopping Status AxisHomedStatus 07 BOOL Homed Status PositionCamStatus 08 BOOL Position Cam Status TimeCamStatus 09 BOOL Time Cam Status PositionCamPendingStatus 10 BOOL Position Cam Pending Status TimeCamPendingStatus 11 BOOL Time Cam Pending Status GearingLockStatus 12 BOOL Gearing Lock Status PositionCamLockStatus 13 BOOL Position Cam Lock Status TimeCamLockStatus 14 BOOL Time Cam Lock Status M asterOffsetM oveStatus 15 BOOL M aster Offset M ove Status AxisStatus DINT The status bits for your axis Bit Number Data Type Description ServoActStatus 00 BOOL Servo Action Status DriveEnableStatus 01 BOOL Drive Enable Status Shutdow nStatus 02 BOOL Axis Shutdown Status ConfigUpdatelnProcess 03 BOOL Configuration Update in Process AxisFault DINT The axis faults for your axis Bit Number Data Type Description PhysicalAxisFault 00 BOOL Physical Axis Fault M oduleFault 01 BOOL M odule Fault ConfigFault 02 BOOL Configuration Fault AxisEvent DINT The event status for your axis Bit Number Data Type Description WatchEvArmStatus 00 BOOL Watch Event Armed Status WatchEvStatus 01 BOOL Watch Event Status RegEvArmStatus 02 BOOL Reg
27. M ajor Fault or a Non M ajor Fault in the Attribute tab of the associated M otion Group properties dialog box Publication 1756 RM 007C EN P J uly 2001 Mnemonic ControlSyncFault Data Type BOOL Structures A 5 Description Set when the Logix controller detects that several position update messages in a row from the motion module have been missed due to a failure of the synchronous communications connection This condition results in the automatic shutdown of the associated servo module The Logix controller is designed to ride through a maximum of four missed position updates without issuing a fault or adversely affecting motion in progress Missing more than four position updates in a row constitutes a problematic condition that warrants shutdown of the servo module This fault bit is cleared when the connection is reestablished WatchEvArmStatus BOOL Set when a watch event has been armed through execution of the MAW Motion Arm Watch instruction Cleared when either a watch event occurs or a MDW M otion Disarm W atch instruction is executed WatchEvStatus BOOL Set when a watch event has occurred Cleared when either another M AW Motion Arm W atch instruction or a M DW Motion Disarm Watch instruction is executed RegEvArmStatus BOOL Set when a registration checking has been armed for registration input 1 through execution of the MAR M otion Arm Registration instruction Cleared when ei
28. M ove Instructions 3 21 Operands Operand Type Format Description Motion Axis a N Slave axis AXIS tag axis to perform the operation on Heihi B Ny Masteraxis AXIS tag axis that the slave axis follows Motion control koena M otion MOTION tag motion structure Pa K ERO control INSTRU IO Ratio CIP N Slave coun 9 Direction SINT INT or immediate or select the direction of the slave axis 7 DINT tag relative to the master axis Master counts 0 slave axis moves in the same direction as the master axis pr aaa fi 1 slave axis moves in the Oath gt opposite direction of its current Accel rate direction 2 slave axis reverses from Accel units current or previous 3 slave axis to continue its current or previous direction Ratio SINT INT immediate or signed real value of the gear ratio of DINT or tag Slave units per master units REAL Slave counts SINT INT or immediateor the slave encoder counts for an DINT tag integer fraction Master SINT INT or immediateor the master encoder counts for an counts DINT tag integer fraction M aster DINT immediate Sets the master position reference to reference either Command position or Actual position e Actual slave axis motion is generated from the current position of the master axis as measured by its encoder or other feedback device e Command slave axis motion is generated from the desired or commanded position of the master axis
29. MGS Stop M otion fault action or mode change AxisHomedStatus BOOL Cleared at power up or reconnection Set by the M AH instruction upon successful completion of the configured homing sequence and later cleared when the axis enters the shutdown state PositionCamStatus BOOL Setif a Position Cam motion profile is currently in progress Cleared when the Position Cam is complete or is superseded by some other motion operation TimeCamStatus BOOL Setif a Time Cam motion profile is currently in progress Cleared when the Time Cam is complete or is superseded by some other motion operation PositionCamPendingStatus BOOL Setif a Position Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an M APC instruction with Pending execution selected This bit is cleared when the current position cam profile completes initiating the start of the pending cam profile This bit is also cleared if the position cam profile completes or is Superseded by some other motion operation Publication 1756 RM 007C EN P J uly 2001 A 24 Structures Mnemonic TimeCamPendingStatus Data Type BOOL Description Set if a Time Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an MATC instruction with Pending execution selected This bit is cleared when the current time cam profile completes initiating
30. Motion control ER3 Motion MOTION _ tag motion structure control INSTRUCTION MOTION_INSTRUCTION Structure Mnemonic Data Type Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN BOOL The done bit indicates when the instruction disarms watch event checking ER BOOL The error bit indicates when the instruction detects an error such as if the axis is not configured Execution Condition prescan When you use this instruction the controller clears the watch event status bit and the watch armed status bits This instruction also clears the IP bit in the control structure of the MAW instruction Action The EN bit is cleared The DN bit is cleared The ER bit is cleared 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 EN bit is not affected The DN bit is not affected The ER bit is not affected The rung condition out is set to false Publication 1756 RM 007C EN P J uly 2001 5 6 M otion Event Instructions Condition rung condition in is true Action EN bit 0 examine EN bit EN bit is set EN bit 1 EN bit remains set rung condition out remains set to true no instruction detects an error
31. RM 007C EN P J uly 2001 3 If Then the controller The controller does not detect an error e Sets the DN bit when the instruction executes e Sets the in process IP bit The controller detects an error when e Sets the ER bit the instruction executes e Stores an error code in the control structure The controller detects another Clears the IP bit for that instance instance of the motion instruction The motion process reaches the point Sets the DN bit where the instruction can be executed For some process type again 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 Clears the IP bit motion process e The motion process completes e Another instance of the instruction executes e Another instruction stops the mo tion process e A motion fault stops the mo tion process 4 After the initiation of the motion process the program scan can continue The remainder of the instruction and the control process continue in parallel with the program scan 5 The next time the rung becomes false after either the DN bit or the ER bit sets the controller clears the EN bit Motion Concepts 1 7 6 When the rung becomes true the instruction can execute again LIP PC Scan Scan Execution Scan Process rung true rung false complete rung fals
32. RM 007C EN P J uly 2001 2 2 M otion State Instructions Publication 1756 RM 007C EN P J uly 2001 The five operating states of an axis are Operating State Axis ready Description This is the normal power up state of the axis In this state e the servo module drive enable output is inactive e servo action is disabled 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 e 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 stop string of the drive power supply In this state e the servo module drive enable output is inactive e servo action is disabled e the OK contact is open To determine the operating state of the axis you can look at the DRIVE and FDBK LEDs on the servo module IMPORTANT
33. Sec ActualAcceleration REAL Actual Acceleration in Position Units Sec2 WatchPosition REAL Watch Position in Position Units Publication 1756 RM 007C EN P J uly 2001 Structures A 7 Mnemonic Data Description Type RegistrationPosition REAL Registration 1 Position in Position Units Registration2Position REAL Registration 2 Position in Position Units RegistrationlTime DINT Registration 1 Time as CST time in microseconds Registration2Time DINT Registration 2 Time as CST time in microseconds InterpolationTime DINT Interpolation Time as CST time in microseconds InterpolatedA ctualPosition REAL Interpolated Actual Position in Position Units M asterOffset REAL Master Offset in M aster Position Units StrobeM asterOffset REAL Strobe M aster Offset in M aster Position Units StartM asterOffset REAL Start Master Offset in M aster Position Units CommandPosition REAL Command Position in Position Units StrobeCommandPosition REAL Strobe Command Position in Position Units StartCommandPosition REAL Start Command Position in Position Units CommandVelocity REAL Command Velocity in Position Units Sec CommandAcceleration REAL Command Acceleration in Position Units Sec2 InterpolatedCommandPosition REAL Interpolated Command Position in Position Units ServoStatus DINT The status bits for your servo loop Bit Number Data Type Description no tag 00 BOOL Servo Action Status no tag 0
34. Stopping Status AxisHomedStatus 07 BOOL Homed Status PositionCamStatus 08 BOOL Position Cam Status TimeCamStatus 09 BOOL Time Cam Status PositionCamPendingStatus 10 BOOL Position Cam Pending Status TimeCamPendingStatus 11 BOOL Time Cam Pending Status GearingLockStatus 12 BOOL Gearing Lock Status PositionCamLockStatus 13 BOOL Position Cam Lock Status TimeCamLockStatus 14 BOOL Time Cam Lock Status M asterOffsetM oveStatus 15 BOOL M aster Offset M ove Status AxisStatus DINT The status bits for your axis Bit Number Data Type Description ServoActStatus 00 BOOL Servo Action Status DriveEnableStatus 01 BOOL Drive Enable Status Shutdow nStatus 02 BOOL Axis Shutdown Status ConfigUpdatelnProcess 03 BOOL Configuration Update in Process AxisFault DINT Theaxis faults for your axis Bit Number Data Type Description PhysicalAxisFault 00 BOOL Physical Axis Fault M oduleFault 01 BOOL M odule Fault ConfigFault 02 BOOL Configuration Fault AxisEvent DINT The event status for your axis Bit Number Data Type Description WatchEvArmStatus 00 BOOL Watch Event Armed Status WatchEvStatus 01 BOOL Watch Event Status RegEvArmStatus 02 BOOL Registration Event 1 Armed Status RegEvStatus 03 BOOL Registration Event 1 Status RegEv2ArmStatus 04 BOOL Registration Event 2 Armed Status RegEv2Status 05 BOOL Registration Event 2 Status HomeEvArmStatus 06 BOOL Home Event Armed Status HomeEvStatus 07 BOOL Home Event Status ActualPosition REAL Actual Position in Position
35. a serious fault has occurred with the motion module associated with the selected axis Usually a module fault affects all axes associated with the motion module A module fault generally results in the shutdown of all associated axes Reconfiguration of the motion module is required to recover from a module fault condition A M oduleFault can be set as either a M ajor Fault or a Non M ajor Fault in the Attribute tab of the associated M otion Group properties dialog box ConfigFault BOOL Set when an update operation targeting an axis configuration attribute of an associated motion module has failed Specific information concerning the Configuration Fault may be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module A ConfigFault can be set as either a M ajor Fault or a Non M ajor Fault in the Attribute tab of the associated M otion Group properties dialog box WatchEvArmStatus BOOL Set when a watch event has been armed through execution of the MAW Motion Arm Watch instruction Cleared when either a watch event occurs or a MDW M otion Disarm Watch instruction is executed Publication 1756 RM 007C EN P J uly 2001 Structures A 25 Mnemonic Data Description Type WatchEvStatus BOOL Set when a watch event has occurred Cleared when either another M AW Motion Arm Watch instruction or a M DW Motion Disarm Watch instruction is executed RegEv
36. affected The rung condition out is set to false rung condition in is true examine EN bit EN bit remains set rung condition out remains set to true EN bit 0 EN bit is set instruction detects an error no Y rung condition out is set to true function complete EN bit remains set DN bit remains clear ER bit remains clear rung condition out is not affected yes yes EN bit remains set DN bit remains clear ER bit is set rung condition out remains 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 Arithmetic Status Flags Fault Conditions Publication 1756 RM 007C EN P J uly 2001 not affected none M otion M ove Instructions 3 31 MRP Error Codes ERR Error Code Error Message Description 3 Execution Collision The instruction tried to execute while another instance o this instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the preceding instruction 8 Illegal Axis Type The axis is not configured as a servo position only or virtual axis 11 Axis Not Configured The axis is not configured 12 Servo Message Failure Messaging to the servo module failed 18 Axi
37. an input parameter The MRHD instruction uses message and process type timing Motion Run Hookup Diagnostics Awie AKIS Motion control Diagnostic Test M otion Configuration Instructions 6 11 To use the MRHD instruction specify the diagnostic test to run If you want to run the Then M otor encoder test e Configure the axis as a servo axis e Ensure that the axis is in the axis ready operating state Encoder hookup test Configure the axis as either a servo axis or a position only axis Encoder marker test Configure the axis as either a servo axis or a position only axis Operands RHD Operand Type Format Description at Axis AXIS tag axis structure Motion MOTION tag motion structure control INSTRUCTIO N Diagnostic DINT immediate select the diagnostic test to run test e motor encoder hookup test e encoder hookup test e encoder marker hookup test MOTION_INSTRUCTION Structure Mnemonic Data Type Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN BOOL The done bit indicates when the instruction initiates a test process ER BOOL The error bit indicates when the instruction detects an error such as if the axis is not configured IP BOOL e The in process bit sets when the hookup test is successfully initiated e t resets when one of the follow ing ev
38. another instance of this instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the preceding instruction 8 The axis is not configured as a servo or position only axis 11 The axis is not configured 12 M essaging to the servo module failed 18 The axis type is configured as unused 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration BitName State Meaning WatchEvArmStatus True The axis is looking for a watch position event WatchEvStatus False The previous watch event is cleared MAW Motion Arm Watch Axis Motion control axis _ MAW Trigger Condition Forward Position position When the input conditions are true the controller arms watch position event checking for axis1 Format Syntax neutral text MAW axis motion_control trigger position ASCII text MAW axis motion_control trigger position M otion Event Instructions 5 5 Motion Disarm Watch The MDW instruction is an output instruction M DW Use the MDW instruction to disarm watch position event checking for an axis The MDW instruction uses message type timing To use the MDW instruction configure the axis as either a servo axis or a position only axis Operands MDW Operand Type Format Description Motion Disarm Watch gt DNS Axis AXIS tag axis structure
39. beyond the defined range cam motion on the Slave Axis stops and the PositionCamLockStatus bit is cleared Slave motion does resume if the M aster Axis moves back into the cam profile range and the PositionCamLockStatus bit is set M otion M ove Instructions 3 37 Operand Type Format Description Execution UINT32 Selects the method used to execute the cam Schedule profile Options are e Immediate The slave axis is immediately locked to the master axis and the position camming process begins e Forward only the cam profile starts when the master position crosses the M aster Lock Position in the forward direction e Reverse only the cam profile starts when the master position crosses the M aster Lock Position in the reverse direction e Bi directional the cam profile starts when the master position crosses the M aster Lock Position in either direction e 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 M aster Axis M aster Lock Position and Master Reference Master Lock REAL immediate The Master axis absolute position where the Position or tag Slave axis locks to the master axis If Pending is selected as the Execution Schedule value then M aster Lock Position is ignored Cam Lock REAL immediate This determines the starting location in the cam Position or tag profile M aster UIN
40. bitis set PC bit remains clear Y rung condition out is set to true true processing runs to completion in motion task process complete EN bit remains set DN bit remains set ER bit remains clear IP bitis 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 no process aborted PC bit remains clear rung condition out is not affected Arithmetic Status Flags not affected Fault Conditions none Publication 1756 RM 007C EN P J uly 2001 MGS Error Codes ERR MGS Changes to Axis Status Bits MGS Example Error Code Motion Group Instructions 4 5 Description 3 he instruction tried to execute while another instance of this instruction was executing This can occur when the controller executes a messaging instruction without checking the DN bit of the preceding instruction 12 Messaging to the servo module failed 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration BitName State Meaning StoppingStatus True The axis is stopping J ogStatus False The axis is not jogging M oveStatus False The axis is not moving GearingStatus False The axis is not gearing HomingStatus False The axis is not homing DecelStatus True The ax
41. completed IP 27 BOOL The in process bit indicates that a process is being executed ER 28 BOOL The error bit indicates when the operation generates an overflow DN 29 BOOL The done bit indicates that the operation is complete EN 31 BOOL The enable bit indicates that the instruction is enabled Publication 1756 RM 007C EN P J uly 2001 A 28 Structures Mnemonic Data Type Description ERR INT The error value contains the error code associated with a motion instruction Value Description 3 The instruction tried to execute while another instance of this instruction was executing This can occur when the controller executes a messaging instruction without checking the DN bit of the preceding instruction 4 The instruction tried to execute on an axis whose servo loop is closed 5 The instruction tried to execute on an axis whose servo loop is not closed 6 The axis drive is enabled 7 The axis is in the shutdown state 8 The axis is not configured as a servo position only or virtual axis type 9 The instruction tried to execute in a direction that aggravates the current overtravel condition 10 The master axis reference is the same as the slave axis reference 11 The axis is not configured 12 M essaging to the servo module failed 13 The instruction tried to use a parameter that is outside the range limit 14 The instruction can not apply the tuning parameters because of an error in the run tuning instru
42. faulted state 24 The controller attempted to execute an M DO MSO MAH MAJ MAM MCD MAPC MATC MAG M RAT or M RHD instruction when the controller was in the test mode This LED Will change to Meaning FDBK Flashing green Servo action is disabled DRIVE Solid green The drive enable output is active BitName State Meaning DriveEnableStatus True e The axis is in the drive control state e The drive enable output is active Publication 1756 RM 007C EN P J uly 2001 2 20 M otion State Instructions MDO Example DO Motion Direct Drive On N Axis axis E DN Motion control axis1_MDO Re Drive Output value_1 e Drive Units Percent When the input conditions are true the controller activates the servo drive for axis and sets the servo output voltage of axis1 In this example the output will be 2 of the output value Other Formats Format Syntax neutral text MDO axis motion_control drive_output drive_units ASCII text MDO axis motion_control drive_output drive_ units Motion Direct Drive Off MDF Operands DF Motion Direct Drive Off Axis it Motion control Publication 1756 RM 007C EN P J uly 2001 The MDF instruction is an output instruction Use the 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 spec
43. gain velocity loop gain and current limits within your program For more information about the SSV instruction see the Logix5550 Controller Instruction Set Reference Manual publication 1756 RM003 For more information about motion instructions and creating application programs see the ControlLogix Motion Module Setup and Configuration Manual publication 1756 UM006 Motion instructions use three types of timing sequences Timing type Description See page Immediate The instruction completes in one scan 1 3 Message The instruction completes over several scans because 1 4 the instruction sends messages to the servo module Process The instruction could take an indefinite amount of 1 6 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 e Motion Change Dynamics MCD instruction e Motion Group Strobe Position MGSP instruction Immediate instructions work as follows M otion Concepts 1 3 1 When the rung that contains the motion instruction becomes true the controller 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 Then oes not detect an error whe
44. instruction the axis will immediately fault again The MAFR instruction is usually used as a part of a fault handling program A fault handling program provides specific action in response to possible faults Once the fault condition is removed the MAFR block clears all the active fault status bits The MAFR instruction uses message type timing To use the MAFR instruction configure the axis as either a servo axis ora position only axis Operand Type Format Description Axis AXIS tag axis structure Motion MOTION tag motion structure control INSTRUCTIO N Structure Mnemonic Data Type Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN BOOL The done bit indicates when the instruction clears all the fault status bits ER BOOL The error bit indicates when the instruction detects an error such as if the axis is not configured Publication 1756 RM 007C EN P J uly 2001 Execution Condition prescan M otion State Instructions Action The EN bit is cleared The DN bit is cleared The ER bit is cleared The rung condition out is set to false 2 25 rung condition in is false The EN bit is cleared if either the DN or ER bit is set Otherwise the EN bit is not affected The DN bit is not affected The ER bit is not affected The rung condition out is set t
45. is set to false rung condition in is true 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 EN bit remains set yes DN bit remains clear gt ER bit is set rung condition out remains true no Y an true rung condition out is set to function complete processing runs to completion in motion task EN bit remains set yes DN bit is set ERbit remains clear rung condition out is not affected affected EN bit remains set DN bit remains clear ER bit remains clear rung condition out is not Arithmetic Status Flags Fault Conditions none not affected Publication 1756 RM 007C EN P J uly 2001 6 4 Motion Configuration Instructions M AAT Error Codes ERR MAAT Example Other Formats Motion Run Axis Tuning M RAT Publication 1756 RM 007C EN P J uly 2001 Error Code Description 3 The instruction tried to execute while another instance of this instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the preceding instruction 4 The instruction tried to execute on an axis with a closed servo loop 7 The axis is in the shutdown state 8 The axis is
46. not configured as a Servo axis ll The axis is not configured 12 M essaging to the servo module failed 14 The instruction can not apply the tuning parameters because of an error in the run tuning instruction 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration 24 The controller attempted to execute an M DO MSO MAH MA MAM MCD MAPC MATC MAG M RAT or MRHD instruction when the controller was in the test mode MAAT Motion Apply Axis Tuning Axis axis jt Motion control arist MAAT When the input conditions are true the controller computes a complete set of servo gains and dynamic limits for axis1 based on the results of the previously executed Motion Run Axis Tuning M RAT instruction Format Syntax neutral text MAAT axis motion_control ASCII text MAAT axis motion_control The MRAT instruction is an output instruction Use the MRAT to command the servo module to run a tuning motion profile for an axis The input parameters for this function depend on the axis attributes listed on the Tune Servo tab of the Axis Property window This instruction does not close the servo loop at any time The MRAT instruction uses message and process type timing Motion Configuration Instructions 6 5 To use the MRAT instruction e Configure the axis as a servo axis e Ensure the axis operating state is axis ready
47. of four missed position updates without issuing a fault or adversely affecting motion in progress Missing more than four position updates in a row constitutes a problematic condition that warrants shutdown of the servo module This fault bit is cleared when the connection is reestablished M oduleSyncFault BOOL Set when the motion module detects that several position update messages in a row from the ControlLogix processor module have been missed due to a failure of the synchronous communications connection This condition results in the automatic shutdown of the servo module The servo module is designed to ride through a maximum of four missed position updates without issuing a fault or adversely affecting motion in progress M issing more than four position updates in a row constitutes a problematic condition that warrants shutdown of the servo module This fault bit is cleared when the connection is reestablished TimerEventFault BOOL Set when the associated servo module has detected a problem with the module s timer event functionality used to synchronize the motion module s servo loop to the master timebase of the Logix rack i e Coordinated System Time This fault bit can be cleared only by reconfiguration of the motion module M oduleHardw areFault BOOL Set when the associated servo module has detected a hardware problem that in general is going to require replacement of the module to correct Outpu
48. oiseFault BOOL Set for a specific feedback source when the servo module has detected simultaneous transitions of the feedback A and B channels called feedback noise Feedback noise is most often caused by loss of quadrature in the feedback device itself or radiated common mode noise signals being picked up by the feedback device wiring both of which may be able to be seen on an oscilloscope This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear AuxFeedbackFault BOOL Set for an auxiliary feedback source when one of the following conditions occurs e The differential electrical signals for one or more of the feedback channels e g A and A B andB or Z and Z are at the same level both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device This fault condition is latched and requires execution of an explicit M AFR Motion Axis Fault Reset or M ASR Motion Axis Shutdown Reset instruction to clear AuxFeedbackN oiseFault BOOL Set for an auxiliary feedback source when the servo module has detected simultaneous transitions of the feedback A a
49. operand of the MGS instruction When the motion of all axes in the group has been brought to a stop the Process Complete PC bit is set in the control structure The MGS instruction is an output instruction and uses process type timing To use the MGS instruction the group must be configured Operands Operand Type Format Description MGS Motion Group Stop lt EN gt _ Group MOTION tag group structure Group _ al lt Di gt GROUP set Cerda poe Motion MOTION_ tag motion structure SPE control INSTRUCTION Stop Mode DINT immediate Controls how the axes in the MOTION_INSTRUCTION Structure Mnemonic EN group are stopped e Programmed each axis is stopped according to how the individual axis has been configured 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 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 Data Type Description BOOL The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN BOOL The done bit indicates when the instruction initiates a group stop for all the axes ina group ER BOOL The error bit indicates when the instruction detects an error such as if messaging to the servo module failed
50. or virtual axis 11 The axis is not configured 12 M essaging to the servo module failed 18 The axis type is configured as unused 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration MASD Changes to Servo M odule LEDs This LED Will change to Meaning FDBK Flashing green Servo action is inactive DRIVE Flashing red e The drive enable output is inactive e The OK contact is open MASD Changes to Axis Status Bits BitName State Meaning e The servo loop is inactive DriveEnableStatus False The drive enable output is inactive Shutdow nStatus True The axis is in the shutdown state AccelStatus False The axis is not accelerating StoppingStatus False The axis is not stopping J ogStatus False The axis is not jogging M oveStatus False The axis is not moving GearingStatus False The axis is not gearing HomingStatus False The axis is not homing TuneStatus False The axis is not running a tuning process TestStatus False The axis is not running a testing process GearingLockedStatus False The axis is not clutching to a new gearspeed PositionCamStatus False Pcam motion profile is not in progress TimeCamStatus False Tcam motion profile is not in progress PositionCamLockedStatus False The Pcam is stopped and the lock is cleared Publication 1756 RM 007C EN P J uly 2001 MASD Example
51. remains clear IP bitis set PC bit remains clear Y aa rung condition out is set to true EN bit remains set rung condition out remains set to true instruction detects an error processing runs to completion EN bit remains set in motion task DN bit remains set ER bit remains clear IP bitis cleared PC bit is set rung condition outis not affected process complete 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 no process aborted Arithmetic Status Flags not affected Fault Conditions none Publication 1756 RM 007C EN P J uly 2001 MAM Error Codes ERR M otion M ove Instructions 3 19 Error Code Error Message Description 5 Servo Off State Error The instruction tried to execute on an axis whose servo oop is not closed 7 Shutdown State Error The axis is in the shutdown state 8 Illegal Axis Type The axis is not configured as a servo or virtual axis 9 Overtravel Condition The instruction tried to execute in a direction that aggravates the current overtravel condition 11 Axis Not Configured The axis is not configured 13 Parameter Out Of Range The instruction tried to use a parameter that is outside the legal range limit 16 Home In Process Error The instruction t
52. servo module This fault bit is cleared when the connection is reestablished M oduleSyncFault BOOL Set when the motion module detects that several position update messages in a row from the ControlLogix processor module have been missed due to a failure of the synchronous communications connection This condition results in the automatic shutdown of the servo module The servo module is designed to ride through a maximum of four missed position updates without issuing a fault or adversely affecting motion in progress M issing more than four position updates in a row constitutes a problematic condition that warrants shutdown of the servo module This fault bit is cleared when the connection is reestablished TimerEventFault BOOL Set when the associated servo module has detected a problem with the module s timer event functionality used to synchronize the motion module s servo loop to the master timebase of the Logix rack i e Coordinated System Time This fault bit can be cleared only by reconfiguration of the motion module M oduleHardw areFault BOOL Set when the associated servo module has detected a hardware problem that in general is going to require replacement of the module to correct Publication 1756 RM 007C EN P J uly 2001 Structures A 19 Mnemonic Data Description Type ProcessStatus BOOL Set when there is an axis tuning operati
53. shaft TorqueLimitSource DINT The present source if any of any torque limiting for the axis DriveStatus DINT The status bits for your servo drive Bit Number Data Type Description no tag 00 BOOL Servo Action Status no tag 01 BOOL Drive Enable Status no tag 02 BOOL Axis Shutdown Status ProcessStatus 03 BOOL Process Status no tag 04 BOOL Reserved no tag 05 BOOL Reserved HomeSwitchStatus 06 BOOL Home Input Status RegllnputStatus 07 BOOL Registration 1 Input Status Reg2InputStatus 08 BOOL Registration 12Input Status PosOvertravellnputStatus 09 BOOL Positive Overtravel Input Status NegOvertravellnputStatus 10 BOOL Negative Overtravel Input Status EnablelnputStatus 11 BOOL Enable Input Status AccelLimitStatus 12 BOOL Accel Limit Status no tag 13 15 BOOL Reserved VelocityLockStatus 16 BOOL Velocity Lock Status VelocityStandstillStatus 17 BOOL Velocity Standstill Status VelocityThresholdStatus 18 BOOL Velocity Threshold Status TorqueThresholdStatus 19 BOOL Torque Threshold Status TorqueLimitStatus 20 BOOL Torque Limit Status VelocityLimitStatus 21 BOOL Velocity Limit Status PosLockStatus 22 BOOL Position Lock Status no tag 23 BOOL Reserved no tag 24 BOOL Reserved no tag 25 BOOL Reserved no tag 26 BOOL Reserved Publication 1756 RM 007C EN P J uly 2001 A 16 Structures Mnemonic Data Description Type DriveFault DINT The servo fa
54. the feedback A and B channels called feedback noise Feedback noise is most often caused by loss of quadrature in the feedback device itself or radiated common mode noise signals being picked up by the feedback device wiring both of which may be able to be seen on an oscilloscope This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear AuxFeedbackFault BOOL Set for an auxiliary feedback source when one of the following conditions occurs e The differential electrical signals for one or more of the feedback channels e g A and A B andB or Z and Z are at the same level both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device This fault condition is latched and requires execution of an explicit M AFR Motion Axis Fault Reset or M ASR Motion Axis Shutdown Reset instruction to clear AuxFeedbackN oiseFault BOOL Set for an auxiliary feedback source when the servo module has detected simultaneous transitions of the feedback A and B channels called feedback noise Feedback noise is most often caused by loss of q
55. 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 page 1 8 STATUS SINT The message status value indicates the status condition of any message associated with the motion function See page 1 10 STATE SINT The execution status value keeps track of the execution state of a function M any motion functions have several steps and this value tracks these steps See page 1 10 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 M otion Concepts 1 9 Error codes ERR Error Code Error Message Description 3 Execution Collision The instruction tried to execute while another instance of this instruction was executing This can occur when the controller executes a messaging instruction without checking the DN bit of the preceding instruction 4 Servo On State Error The instruction tried to execute on an axis with a closed servo loop 5 Servo Off State Error The instruction tried to execute on an axis with a servo loop that is not closed 6 Drive On State Error The axis drive is enabled 7 Shutdown State Erro
56. the synchronized state This could be caused by a missing servo module or a misconfiguration BitName State Meaning RegEvArmStatus False The axis is not looking for a registration event RegEvStatus False The previous registration event is cleared DR Motion Disarm Registration Axis axis jt Motion control axis _MDR When the input conditions are true the controller disarms registration event checking for axis1 Format Syntax neutral text MDR axis motion_control ASCII text MDR axis motion_control Publication 1756 RM 007C EN P J uly 2001 5 14 M otion Event Instructions Motion Arm Output Cam MAOC Operands 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 Reference Publication 1756 RM 007C EN P J uly 2001 The MAOC instruction initiates an Output Cam An axis can support 0 to 8 Output Cams with each Output Cam responsible for one 1 output consisting of 32 output bits Each axis can be configured with a different number of Output Cams When an MAOC instruction is invoked it arms an Output Cam for a particular Axis and Output as determined by the operands for the instruction The Execution Target operand determines which of the four Output Cams to initiate The MAOC instruction uses an Outpu
57. through the cam profile Time Scaling REAL immediate or tag Scales the time interval covered by the cam profile Execution Mode UINT32 Determines how the cam motion behaves when the time moves beyond the end point of the cam profile The options are e Once When the time cam execution time exceeds the time range in the cam profile the M ATC instruction completes the axis motion stops and the Time Cam Status bit is cleared e Continuous The cam profile motion is executed indefinitely Publication 1756 RM 007C EN P J uly 2001 3 44 Motion M ove Instructions Operand Type Format Description Execution UINT32 Selects the method used to execute the cam Schedule profile Options are e Immediate instruction is scheduled to execute immediately with no delay enabling the time camming process e Pending Defers execution of the time cam until the completion of the currently or next immediate executing time cam This is useful in blending a new time cam profile with an on going process to achieve a seamless transition Time Cam Timing Diagram New Profile Current Profile Axis Position l Time Cam ON Pending Status OFF Pending New Time Cam Configured Publication 1756 RM 007C EN P J uly 2001 M otion M ove Instructions 3 45 MOTION_INSTRUCTION Structure Mnemonic DataType Description EN BOOL The enable bit is se
58. 005 2 24 Publication 1756 RM 007C EN P J uly 2001 Table of Contents ii Chapter 3 Chapter 4 Chapter 5 Chapter 6 Publication 1756 RM 007C EN P J uly 2001 Motion Move Instructions IMMOOUCHON 4 Mesherca tee q nates E Rates re Ea kee es 3 1 Motion Axis Stop MAS 0 3 4 4 408 oe eee Raa eek 3 2 Motion Axis Home MAP i 56 sik 68 ee web len a eed 3 6 Motion Axis Jog MAJ 0 0 ccc eee eens 3 10 Motion Axis Move MAM 000000 eevee 3 15 Motion Axis Gearing MAG 0 00 e ee eee 3 20 Motion Change Dynamics MCD 05 3 25 Motion Redefine Position MRP 0005 3 29 Motion Calculate Cam Profile MCCP 3 32 Motion Axis Position Cam MAPC 0 3 34 Motion Axis Time Cam MATC 00 3 42 Motion Group Instructions PVG CEC HOM eiia a Giese dein at D te ded EA amp eee 4 1 Motion Group Stop MGS 0 cee eee ee 4 2 Motion Group Shutdown MGSD 05 4 6 Motion Group Shutdown Reset MGSR 4 9 Motion Group Strobe Position MGSP 4 13 Motion Event Instructions TIVO CUC HON e eoad e Gta dearly dosh ark 8 Me ora ean eae 4 5 1 Motion Arm Watch MAW 0 0 0 c ee eens 5 1 Motion Disarm Watch MDW 0000 00s 5 5 Motion Arm Registration MAR 0 eee 5 7 Motion Disarm Registration MDR 0005 5 11 Motion Arm Output Cam MAOC
59. 1 BOOL Drive Enable Status no tag 02 BOOL Axis Shutdown Status ProcessStatus 03 BOOL Process Status OutLmtStatus 04 BOOL Output Limit Status PosLockStatus 05 BOOL Position Lock Status HomeSwitchStatus 06 BOOL Home Input Status RegllInputStatus 07 BOOL Registration 1 Input Status Reg2InputStatus 08 BOOL Registration 12Input Status PosOvertravellnputStatus 09 BOOL Positive Overtravel Input Status NegOvertravellnputStatus 10 BOOL Negative Overtravel Input Status DriveFaultInputStatus 11 BOOL Drive Fault Input Status ServoFault DINT The servo fault bits for your servo loop Bit Number Data Type Description POtrvlFault 00 BOOL Positive Software Overtravel Fault NOtrvlFault 01 BOOL Negative Softw are Overtravel Fault PosHardOvertravelFault 02 BOOL Positive Hardware Overtravel Fault NegHardOvertravelFault 03 BOOL Negative Hardware Overtravel Fault FeedbackFault 04 BOOL Feedback Fault FeedbackNoiseFault 05 BOOL Feedback Noise Fault AuxFeedbackFault 06 BOOL Auxiliary Feedback Fault AuxFeedbackN oiseFault 07 BOOL Auxiliary Feedback Noise Fault PosErrorFault 08 BOOL Position Error Fault DriveFault 09 BOOL Drive Fault Publication 1756 RM 007C EN P J uly 2001 A 8 Structures Mnemonic Data Description Type ServoM oduleFault DINT Bit Number Data Type Description ControlSyncFault 00 BOOL Control Sync Fault M oduleSyncFault 01 BOOL M odule Syn
60. 4k Pane eared OAR Aa aw ee P 1 Who Should Use This Manual 0005 P 1 Purpose of This Manual 2 5 44 odsa eactabe td eace ees be P 1 Conventions and Related Terms 000 P 2 Set and CSAP oo alee lc eae dt aoe ae RE P 2 FUNG conditons 44 carte e e eae wk Re AE P 2 Motion Concepts TILE CTO se roua vine a ra AAE 1 1 Using Motion Parameters i204 etstsadrth aes eae ba wd ao 1 1 Motion status and configuration parameters 1 1 Modifying motion configuration parameters 1 2 Understanding Instruction Timing 1 2 Immediate type instructions 000005 1 2 Message type instructions 0 00sec eee 1 3 Process type instructions 60 9 3 ied eo een kes 1 5 Using the Motion Instruction Structure 1 7 Enrorcodes ERR sece Rd A a dee eR A h 1 9 Message status STATUS 0 000 eee eee 1 11 Execution status STATE ss cana e esc eane wae 1 11 Profile Segment SEGMENT 000005 1 11 Motion State Instructions IPOCMCHON is ses bus eene be beta eee a eae eh at 2 1 Motion Servo On MSO a4 cs sree gia Bawa aia seks aa 2 3 Motion Servo Off MSF 0 0 0 0 eee eeee 2 6 Motion Axis Shutdown MASD 0 00005 2 9 Motion Axis Shutdown Reset MASR 00 2 13 Motion Direct Drive On MDO 00 2 17 Motion Direct Drive Off MDF 00 2 20 Motion Axis Fault Reset MAFR 0000
61. AL A 21 immediate motion instructions 1 2 instructions motion configuration 6 1 motion event 5 1 motion group 4 1 motion move 3 1 motion state 2 1 M M AAT instruction 6 2 M AFR instruction 2 24 M AG instruction 3 20 MAH instruction 3 6 MAHD instruction 6 8 MAJ instruction 3 10 MAM instruction 3 15 MAOC instruction 5 14 5 23 MAPC Changes to Axis Status Bits 3 40 M APC instruction 3 34 MAR instruction 5 7 MAS instruction 3 2 MASD instruction 2 9 MASR instruction 2 13 MATC Changes to Axis Status Bits 3 46 MATC instruction 3 42 M AW instruction 5 1 MCCP instruction 3 32 MCD instruction 3 25 M DF instruction 2 20 M DO instruction 2 17 M DR instruction 5 11 M DW instruction 5 5 message motion instructions 1 3 MGS instruction 4 2 MGSD instruction 4 6 MGSP instruction 4 13 M GSR instruction 4 9 motion configuration instructions 6 1 Index event instructions 5 1 group instructions 4 1 immediate type instructions 1 2 message type instructions 1 3 move instructions 3 1 process type instructions 1 5 State instructions 2 1 motion apply axis tuning 6 2 motion apply hookup diagnostics 6 8 motion arm position cam 5 14 5 23 motion arm registration 5 7 motion arm watch 5 1 motion axis fault reset 2 24 motion axis gearing 3 20 motion axis home 3 6 motion axis jog 3 10 motion axis move 3 15 motion axis position cam 3 34 motion axis shutdown 2 9 motion axis shutdown reset 2 13 motion axis stop 3 2 motion axis time cam 3
62. AM instruction uses immediate and process type timing To use the MAM instruction e Configure the axis as a servo or virtual axis e Ensure that the axis operating state is servo on if the axis is servo type Publication 1756 RM 007C EN P J uly 2001 3 16 Motion M ove Instructions Operands AM Operand Type Format Description Moai Axis Move N gt Axis AXIS tag axis structure XIS f Motion control N gt Motion MOTION tag motion structure ove type i M R gt control i STRUCTIO Position 7 Speed gi CIP gt Move type SINT INT or immediateor select the type of move Fe gt PC DINT tag 0 Absolute M ove Speed units k 1 Incremental M ove Accel rate 2 Rotary Shortest Path M ove 2 3 Rotary Positive M ove Accel units 4 Rotary Negative M ove cane 5 Absolute M aster Offset Decel units 9 6 Incremental M aster Offset he Position SINT INT immediate or value of the absolute command Merge speed DINT or tag position to move to or for incremental REAL movement the value of the distance to move from the current command position Speed SINT INT immediateor speed to move the axis DINT or tag REAL Speed units DINT immediate select the speed units 0 of maximum speed 1 units per sec Accel rate SINT INT immediate or acceleration rate of the axis DINT or tag REAL Accel units DINT immediate select the acceleration units 0 of maximum acceleration 1 units p
63. Allen Bradley Logix Controller Motion Instruction Set Cat No 1756 L1 L1M x Reference Manual Automation Important User Information Because of the variety of uses for the products described in this publication those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements including any applicable laws regulations codes and standards The illustrations charts sample programs and layout examples shown in this guide are intended solely for purposes of example Since there are many variables and requirements associated with any particular installation Allen Bradley does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Allen Bradley publication SGI 1 1 Safety Guidelines for the Application Installation and Maintenance of Solid State Control available from your local Allen Bradley office describes some important differences between solid state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication Reproduction of the contents of this copyrighted publication in whole or part without written permission of Rockwell Automation is prohibited Throughout this manual we use n
64. ArmStatus BOOL Set when a registration checking has been armed for registration input 1 through execution of the MAR M otion Arm Registration instruction Cleared when either a registration event occurs ora M DR M otion Disarm Registration instruction is executed for registration input 1 RegEvStatus BOOL Set when a registration event has occurred on registration input 1 Cleared when either another M AR M otion Arm Registration instruction or a M DR M otion Disarm Registration instruction is executed for registration input 1 RegEv2ArmStatus BOOL Set when a registration checking has been armed for registration input 2 through execution of the M AR M otion Arm Registration instruction Cleared when either a registration event occurs ora M DR M otion Disarm Registration instruction is executed for registration input 2 RegEv2Status BOOL Set when a registration event has occurred on registration input 2 Cleared when either another MAR M otion Arm Registration instruction or a M DR M otion Disarm Registration instruction is executed for registration input 2 HomeEvArmStatus BOOL Set when a home event has been armed through execution of the MAH Motion Axis Home instruction Cleared when a home event occurs HomeEvStatus BOOL Setwhen a home event has occurred Cleared when another M AH M otion Axis Home instruction is executed OutputCamStatus DINT A setof bits that are set when the Output Cam has been initiated OutputCamPendingStatus
65. BOOL Setwhen the magnitude of the physical axis Velocity Feedback is less than the configured Velocity Threshold TorqueThresholdStatus BOOL Set when the magnitude of the physical axis Torque Feedback is less than the configured Torque Threshold TorqueLimitStatus BOOL Set when the magnitude of the axis torque command is greater than the configured Torque Limit VelocityLimitStatus BOOL Setwhen the magnitude of the commanded velocity to the velocity servo loop input is greater than the configured Velocity Limit PosLockStatus BOOL Setwhen the magnitude of the axis position error has become less than or equal to the configured Position Lock Tolerance value for the associated physical axis PosSoftOvertravelFault BOOL Set when the axis has traveled or attempted to travel beyond the current configured value for Maximum Positive Travel Cleared when the axis is moved back within this travel limit NegSoftOvertravelFault BOOL Set when the axis has traveled or attempted to travel beyond the current configured value for Maximum Negative Travel Cleared when the axis is moved back within this travel limit PosHardOvertravelFault BOOL Set when the axis has traveled beyond the current positive direction position limits as established by hardware limit switches mounted on the machine To recover the axis must be moved back with normal operation limits of the machine and the limit switch reset This fault condition is latched and requires execution of an expli
66. C EN P J uly 2001 1 12 Motion Concepts Publication 1756 RM 007C EN P J uly 2001 Introduction Motion State Instructions Chapter 2 MSO MSF MASD MASR MDO MDE MAFR ATTENTION Tags used for the motion control attribute of instructions should only be used once Re use of the motion control tag in other instructions can cause unintended operation of the control variables Motion state control instructions directly control or change the operating states of an axis The motion state instructions are If you want to Enable the servo drive and activate the axis servo loop MSO Use this instruction See page 2 3 Disable the servo drive and deactivate the axis servo loop M SF 2 6 Force an axis into the shutdown operating state Once the axis is in the shutdown operating state the controller will block any instructions that initiate axis motion M ASD 2 9 Change an axis from an existing shutdown operating state to an axis ready operating 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 MASR 2 13 Enable the servo drive and set the servo output voltage of an axis M DO 2 17 Deactivate the servo drive and set the servo output voltage to the output offset voltage 2 20 Clear all motion faults for an axis M AFR 2 24 Publication 1756
67. EAL Drive Units DINT immediate 0 volts 1 percent of maximum output limit 7 The 16 bit digital to analog convertor on the servo module limits the effective resolution of the M DO instruction to 305 LLV or 0 003 The servo output voltage is not limited by the output limit configuration parameter and is not affected by the servo output polarity configuration bit Mnemonic Data Type Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN BOOL The done bit indicates when the instruction updates the axis servo output ER BOOL The error bit indicates when the instruction detects an error such as if the drive output value was too large Publication 1756 RM 007C EN P J uly 2001 2 18 M otion State Instructions Execution Condition prescan Action The EN bit is cleared The DN bit is cleared The ER bit is cleared 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 EN bit is not affected The DN bit is not affected The ER bit is not affected The rung condition out is set to false rung condition in is true examine EN bit EN bit remains set rung condition out remains set to true EN bit 0 EN bit is set instruct
68. EN P J uly 2001 3 42 M otion M ove Instructions Motion Axis Time Cam The MATC instruction performs electronic camming as a function of M ATC time based on the specified cam profile Time cam lets you execute complex motion profiles in addition to the trapezoidal and S curve move and jog profiles At execution the specified axis is synchronized using the specified time cam profile The parameters for this instruction let you establish the direction distance scaling time scaling execution mode and execution schedule for the camming The MATC instruction executes a time cam profile set up by a previous MCCP instruction or by the RSLogix5000 Cam Profile Editor Time cams let you implement complex motion profiles other than the built in trapezoidal and S curve motion profiles There are no maximum limits for velocity acceleration or deceleration in this instruction The speed acceleration and deceleration of the slave axis are completely governed by the designated cam profile and the scaling values To execute an MATC instruction a calculated Cam Profile data array tag must be specified The MATC instruction uses immediate and process type timing oJ Execution Mode Operands Operand Type Format Description AXIS AXIS tag The name of the axis to which the cam profile is MATE applied Ellipsis launches Axis Properties Motion Axis Time Cam dialog Axis Ti M otion MOTION tag Structure used to access block stat
69. N P J uly 2001 A 18 Structures Mnemonic ConfigFault Data Type BOOL Description Set when an update operation targeting an axis configuration attribute of an associated motion module has failed Specific information concerning the Configuration Fault may be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module A ConfigFault can be set as either a M ajor Fault or a Non M ajor Fault in the Attribute tab of the associated M otion Group properties dialog box WatchEvArmStatus BOOL Set when a watch event has been armed through execution of the MAW Motion Arm Watch instruction Cleared when either a watch event occurs or a MDW M otion Disarm Watch instruction is executed WatchEvStatus BOOL Set when a watch event has occurred Cleared when either another M AW Motion Arm Watch instruction or a M DW Motion Disarm Watch instruction is executed RegEvArmStatus BOOL Set when a registration checking has been armed for registration input 1 through execution of the MAR M otion Arm Registration instruction Cleared when either a registration event occurs or a M DR M otion Disarm Registration instruction is executed for registration input 1 RegEvStatus BOOL Set when a registration event has occurred on registration input 1 Cleared when either another M AR M otion Arm Registration instruction or a M DR M otion Disarm Registration instruction is e
70. N P J uly 2001 Execution Condition prescan Motion Configuration Instructions 6 9 Action The EN bit is cleared The DN bit is cleared The ER bit is cleared 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 EN bit is not affected The DN bit is not affected The ER bit is not affected The rung condition out is set to false rung condition in is true examine EN bit EN bit 0 EN bit remains set rung condition out remains set to true EN bit is set EN bit remains set yes DN bit remains clear gt ER bit is set rung condition out remains true y lt a rung condition out is set to true instruction detects an error processing runs to completion in motion task EN bit remains set yes DN bit is set _ER bit remains clear rung condition out is not affected function complete no EN bit remains set DN bit remains clear ER bit remains clear rung condition out is not affected Arithmetic Status Flags not affected Fault Conditions none Publication 1756 RM 007C EN P J uly 2001 6 10 Motion Configuration Instructions MAHD Error Codes ERR Error Code Description 3 The instruction tried to execute while another instance of th
71. Operands wie Operand Type Format Description Motion Axis Stop N gt Axis AXIS tag axis structure Axis zt N gt Motion control ER gt Motion MOTION _ tag motion structure Stop Type Pa control INSTRUCTION Change Decel PC Decel rate Stop type DINT immediate select the type of stop 0 stop all motion Decel units 1 stop jogging 2 stop moving 3 stop gearing 4 stop homing 5 stop tuning 6 stop test 7 stop position camming 8 stop time camming 9 stop a Master Offset M ove Change decel DINT immediate select whether to change deceleration from the maximum value for the axis e no e yes Decel rate SINT INT DINT or immediate or deceleration rate of the axis REAL tag Decel units DINT immediate select the deceleration units e of maximum deceleration e units per sec2 When used to stop a Master Offset Move the following operands differ from a standard Move instruction e Axis defines the slave axis e Stop type must be set to either ALL or Master Offset Move e Decel Rate values are master axis user units e Decel Units units are master axis user units Publication 1756 RM 007C EN P J uly 2001 MOTION_INSTRUCTION Structure Mnemonic Data Type Motion Move Instructions 3 3 Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN BOOL The d
72. T32 Sets the master position reference to either Reference Command position or Actual position If Pending is selected for the Execution Schedule value then M aster Reference is ignored e Actual slave axis motion is generated from the current position of the master axis as measured by its encoder or other feedback device e Command slave axis motion is generated from the desired or commanded position of the master axis Publication 1756 RM 007C EN P J uly 2001 3 38 Motion Move Instructions Operand Type Format Description M aster UINT32 This determines the direction of the master axis Direction that generates slave motion according to the cam profile Options are e Bi directional slave axis can track the master axis in either direction e Forward only slave axis tracks the master axis in the forward direction of the master axis e Reverse only slave axis tracks the master axis in the opposite direction of the master axis Position Cam Timing Diagram cam Cam Profile Slave Axis Lock Position Position Master Axis Position ON 4 FF 0 Position Cam Lock Status ON 1 m Position Cam Status OFF 0 Position Cam Initiated Publication 1756 RM 007C EN P J uly 2001 MOTION_INSTRUCTION Structure Mnemonic DataType Description M otion M ove Instructions 3 39 EN BOOL The enable bit is set when the rung transitions from false
73. Units StrobeActualPosition REAL Strobe Actual Position in Position Units StartActualPosition REAL Start Actual Position in Position Units AverageVelocity REAL Average Velocity in Position Units Sec ActualVelocity REAL Actual Velocity in Position Units Sec ActualAcceleration REAL Actual Acceleration in Position Units Sec2 Publication 1756 RM 007C EN P J uly 2001 A 14 Structures Mnemonic Data Description Type WatchPosition REAL Watch Position in Position Units RegistrationPosition REAL Registration 1 Position in Position Units Registration2Position REAL Registration 2 Position in Position Units Registration1Time DINT Registration 1 Time as CST time in microseconds Registration2Time DINT Registration 2 Time as CST time in microseconds InterpolationTime DINT Interpolation Time as CST time in microseconds InterpolatedActualPosition REAL Interpolated Actual Position in Position Units M asterOffset REAL Master Offset in M aster Position Units StrobeM asterOffset REAL Strobe Master Offset in M aster Position Units StartM asterOffset REAL Start Master Offset in M aster Position Units CommandPosition REAL Command Position in Position Units StrobeCommandPosition REAL Strobe Command Position in Position Units StartCommandPosition REAL Start Command Position in Position Units CommandVelocity REAL Command Velocity in Position Uni
74. a Position l Position Oulpul Bia i i nacii i Position i Position e ee E Pnsition i Fre ite l Position j nS an mn j Enable 4 Position i Position E I Tiel TE i Position ard Enable Pesition i Position Ciulput bi mitially set Output Cam Compensation Publication 1756 RM 007C EN P J uly 2001 Diiput beat wwtially roi eed When an output cam element has a Latch or Unlatch Type of Position or Position and Enable the cam boundaries are defined by the Left and Right entries in the OUTPUT_CAM element The latch position is defined by the Left entry and the unlatch position is defined by the Right entry when moving in a forward direction Move in a reverse direction and the Right entry defines the latch position and the Left entry defines the unlatch position The behavior of position offset latch delay and unlatch delay are determined for each output bit by an array of OUTPUT COMPENSATION data types The number of elements in an array are limited to 32 one element per output bit IMPORTANT The position offset gives position compensation and the latch and unlatch delay provide separate speed compensation for the latch and unlatch operations The speed compensation is exact if velocity remains constant during the latch and unlatch delay It is recommended that the array be only as large as the last compensated bit The following diagram demonstrates the effect of the compensation
75. active e The OK contact is closed BitName State Meaning ShutdownStatus False The axis is not in the shutdown state MASA M ation Axis Shutdown Reset Axis axis jt Motion control asist MASA When the input conditions are true the controller resets axis from a previous shutdown operating state into an axis ready operating state Format Syntax neutral text MASR axis motion_control ASCII text MASR axis motion_control Motion Direct Drive On MDO Operands ADO Motion Direct Drive On EN Axis ic N3 Motion control ER Drive Output Drive Units MOTION_INSTRUCTION Structure M otion State Instructions 2 17 The MDO instruction is an output instruction Use the MDO instruction to enable the servo drive and to set the servo output voltage of an axis Common uses for this instruction include e Creating an independent programmable analog output as an open loop speed or torque reference for a drive e Testing a servo drive for closed loop operation The MDO instruction uses message type timing To use the MDO instruction e Configure the axis as a servo axis e Fnsure that the axis operating state is axis ready Operand Type Format Description Axis AXIS tag axis structure Motion MOTION tag motion structure control INSTRUCTIO N Drive SINT INT immediate or the new output voltage or Output DINT or tag percent value for the axis R
76. affected The DN bit is not affected The ER bit is not affected The rung condition out is set to false Publication 1756 RM 007C EN P J uly 2001 Condition Action Motion State Instructions 2 11 rung condition in is true examine EN bit EN bit is set EN bit remains set rung condition out remains set to true instruction detects an error no Y rung condition out is set to true Y function complete no D ru EN bit remains set ER bit remains clear affected N bit remains clear ng condition out is not yes gt ER bit is set yes ER bit remains clear EN bit remains set DN bit remains clear rung condition out remains true processing runs to completion in motion task EN bit remains set DN bit is set rung condition out is not affected Arithmetic Status Flags Fault Conditions not affected Publication 1756 RM 007C EN P J uly 2001 2 12 M otion State Instructions MASD Error Codes ERR Error Code Description 3 The instruction tried to execute while another instance of this instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the preceding instruction 8 The axis is not configured as a servo position only
77. any non zero number clear the bit 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 Publication 1756 RM 007C EN P J uly 2001 Using This Manual P 3 rung condition in and the instruction the controller sets the rung condition following the instruction rung condition out which in tum 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 Publication 1756 RM 007C EN P J uly 2001 P 4 Using This M anual Publication 1756 RM 007C EN P J uly 2001 Introduction Using Motion Parameters Chapter 1 Motion Concepts This chapter covers concepts that are common to all the motion instructions This chapter includes For information on See page Using motion parameters 1 2 Instruction timing and the types of timing s
78. ared when the Time Cam is complete or is superseded by some other motion operation Publication 1756 RM 007C EN P J uly 2001 Mnemonic PositionCamPendingStatus Data Type BOOL Structures A 17 Description Set if a Position Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an M APC instruction with Pending execution selected This bit is cleared when the current position cam profile completes initiating the start of the pending cam profile This bit is also cleared if the position cam profile completes or is superseded by some other motion operation TimeCamPendingStatus BOOL Set if a Time Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an MATC instruction with Pending execution selected This bit is cleared when the current time cam profile completes initiating the start of the pending cam profile This bit is also cleared if the time cam profile completes or is superseded by some other motion operation GearingLockStatus BOOL Set whenever the slave axis is locked to the master axis ina gearing relationship according to the specified gear ratio The clutch function of the gearing planner is used to ramp an axis up or down to speed in a gearing process MAG with Clutch selected This bit is cleared during the intervals where the axis is clutch
79. argeting an axis configuration attribute of an associated motion module has failed Specific information concerning the Configuration Fault may be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module A ConfigFault can be set as either a M ajor Fault or a Non M ajor Fault in the Attribute tab of the associated M otion Group properties dialog box WatchEvArmStatus BOOL Set when a watch event has been armed through execution of the MAW Motion Arm Watch instruction Cleared when either a watch event occurs or a MDW M otion Disarm Watch instruction is executed WatchEvStatus BOOL Set when a watch event has occurred Cleared when either another M AW Motion Arm Watch instruction or a M DW Motion Disarm Watch instruction is executed RegEvArmStatus BOOL Set whena registration checking has been armed for registration input 1 through execution of the M AR M otion Arm Registration instruction Cleared when either a registration event occurs or a M DR M otion Disarm Registration instruction is executed for registration input 1 RegEvStatus BOOL Set when a registration event has occurred on registration input 1 Cleared when either another M AR M otion Arm Registration instruction or a M DR M otion Disarm Registration instruction is executed for registration input 1 RegEv2ArmStatus BOOL Set whena registration checking has been armed for registration input 2 through execution of the MAR Motion Arm Reg
80. be greater than this value before the controller accepts the registration event Max SINT INT immediate or maximum position for windowed position DINT or REAL tag registration event checking the registration position must be less than this value before the controller accepts the registration event MOTION_INSTRUCTION Structure Mnemonic Data Type Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN BOOL The done bit indicates when the instruction arms registration event checking ER BOOL The error bit indicates w hen the instruction detects an error such as if the axis is not configured IP BOOL e The in process bit sets when arm registration is successfully initiated e t resets when one of the following events occurs e A registration event occurs e Another MAR instruction supersedes the current instruction e A Motion Disarm Registration M DR instruction terminates the MAR instruction PC BOOL The process complete bit sets when a registration event occurs Publication 1756 RM 007C EN P J uly 2001 M otion Event Instructions 5 9 Execution Condition Action prescan The EN bit is cleared The DN bit is cleared The ER bit is cleared The IP bit is cleared The PC bit is cleared The rung condition out is set to false rung condition in is false The EN
81. bit 0 examine EN bit EN bit remains set set to true Action EN bit is set rung condition out remains __ gt instruction detects an error no Y rung condition out is set to true Y function complete no EN bit remains set DN bit remains clear ER bit remains clear rung condition out is not affected yes gt LER bit is set yes EN bit remains set DN bit remains clear rung condition out remains 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 Arithmetic Status Flags not affected Fault Conditions none Publication 1756 RM 007C EN P J uly 2001 M DR Error Codes ERR M DR to Axis Status Bits M DR Example Other Formats Error Code Description M otion Event Instructions 5 13 3 The instruction tried to execute while another instance or this instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the preceding instruction 8 The axis is not configured as a servo or position only axis 11 The axis is not configured 12 M essaging to the servo module failed 18 The axis type is configured as unused 19 The motion group is not in
82. bitis cleared if either the DN or ER bit is set Otherwise the EN bit is not affected The DN bit is not affected The ER bit is not affected The IP bit is not affected The PC bit is not affected The rung condition out is set to false rung condition in is true 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 set to true EN bit remains set Cent DN bit is set ER bit remains clear IP bitis set armed PC bit remains clear Y To rung condition out is set to true EN bit 1 EN bit remains set rung condition out remains set to true instruction detects an error processing runs to completion EN bit remains set in motion task DN bit remains set ER bit remains clear IP bitis cleared gt registration event PC bit is set occurred a rung condition outis 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 Publication 1756 RM 007C EN P J uly 2001 no process aborted 5 10 M otion Event Instructions Arithmetic Status Flags Fault Conditions MAR Error Codes ERR MAR Changes to Axis Status Bits not affected
83. bits for your axis Bit Number Data Type Description ServoActStatus 00 BOOL Servo Action Status DriveEnableStatus 01 BOOL Drive Enable Status Shutdow nStatus 02 BOOL Axis Shutdown Status ConfigUpdatelnProcess 03 BOOL Configuration Update in Process AxisFault DINT The axis faults for your axis Bit Number Data Type Description PhysicalAxisFault 00 BOOL Physical Axis Fault M oduleFault 01 BOOL M odule Fault ConfigFault 02 BOOL Configuration Fault AxisEvent DINT The event status for your axis Bit Number Data Type Description WatchEvArmStatus 00 BOOL Watch Event Armed Status WatchEvStatus 01 BOOL Watch Event Status RegEvArmStatus 02 BOOL Registration Event 1 Armed Status RegEvStatus 03 BOOL Registration Event 1 Status RegEv2ArmStatus 04 BOOL Registration Event 2 Armed Status RegEv2Status 05 BOOL Registration Event 2 Status HomeEvArmStatus 06 BOOL Home Event Armed Status HomeEvStatus 07 BOOL Home Event Status ActualPosition REAL Actual Position in Position Units StrobeActualPosition REAL Strobe Actual Position in Position Units StartActualPosition REAL Start Actual Position in Position Units AverageVelocity REAL Average Velocity in Position Units Sec ActualVelocity REAL Actual Velocity in Position Units Sec ActualAcceleration REAL Actual Acceleration in Position Units Sec2 WatchPosition REAL Watch Position in Position Units Publication 1756 RM 007C EN P J uly 2001 Structures A 3
84. by segment number as the Cam is executing CAM Structure The Cam data type consists of slave and master point pairs as well as an interpolation type Since 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 Mnemonic Data Type Description MASTER REAL The x value of the point SLAVE REAL The y value of the point Segment DINT The type of interpolation Type Value Description 0 linear 1 cubic Publication 1756 RM 007C EN P J uly 2001 A 30 Structures CAM PROFILE Structure The CAM PROFILE data type is an array of coefficients representing a E calculated cam profile that can be used as input to a time cam or position cam instruction The only element available to the user is Status which is defined in the following table Mnemonic Data Type Description Status 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
85. c Fault TimerEventFault 02 BOOL Timer Event Fault M oduleHardw areFault 03 BOOL M odule Hardware Fault AttributeErrorCode INT ASA Error code returned by erred set attribute list service to the module AttributeErrorlD INT Attribute ID associated with non zero Attribute Error Code PositionCommand REAL Position Command in Position Units PositionFeedback REAL Position Feedback in Position Units AuxPositionFeedback REAL Auxiliary Position Feedback in Position Units PositionError REAL Position Error in Position Units PositionIntegratorError REAL Position Integrator Error in Position Units mSec VelocityCommand REAL Velocity Command in Position Units Sec VelocityFeedback REAL Velocity Feedback in Position Units Sec VelocityError REAL Velocity Error in Position Units Sec VelocitylntegratorError REAL Velocity Integrator Error in Position Units mSec Sec AccelerationCommand REAL Acceleration Command in Position Units Sec2 AccelerationFeedback REAL Acceleration Feedback in Position Units Sec2 ServoOutputLevel REAL Servo Output Level in Volts M arkerDistance REAL Marker Distance in Position Units VelocityOffset REAL Velocity Offset in Position Units Sec TorqueOffset REAL Torque Offset from 100 to 100 AccelStatus BOOL Setif the axis is currently being commanded to accelerate DecelStatus BOOL Setif the axis is currently being commanded to decelerate M oveStatus BOOL Setif a Move motion profile is currently in progress Clea
86. cess Error You tried to execute during a homing operation 19 Group Not Synchronized The axis and its associated axis group were not synchronized at time of execution 23 Illegal Dynamic Change You tried to execute while another Cam Profile was in process 24 Illegal AC Mode Op The controller attempted to execute an MDO MSO MAH MAJ MAM MCD MAPC MATC MAG M RAT or M RHD instruction when the controller was in the test mode 32 Cam Profile Not Calculated The cam profile array you tried to execute was not calculated Publication 1756 RM 007C EN P J uly 2001 3 46 M otion M ove Instructions MATC Changes to Axis Status When the Execution Schedule is set to Immediate execution of the Bits MATC instruction sets the status bits Bit Name State Meaning TimeCamStatus True Time camming is enabled TimeCamPendingStatus False No pending position cam When the Execution Schedule is set to Pending Bit Name State Meaning TimeCamStatus NA Time camming is enabled TimeCamPendingStatus True Pending time cam The TimeCamPendingStatus bit is immediately set to True and transitions to False when the pending cam becomes the active cam MATC Example MATE Motion Ase Time Cam Anis Ansi Motion Control MATC_16_control Direction 0 Cam Profile CamPFrofile_05 0 Distance Scaling 1 0 Time Scaling 1 0 Execution Mode Once Execution Schedule Immediate lt lt Less Other Formats
87. cit M AFR Motion Axis Fault Reset or M ASR Motion Axis Shutdown Reset instruction to clear NegHardOvertravel Fault BOOL Set when the axis has traveled beyond the current negative direction position limits as established by hardware limit switches mounted on the machine To recover the axis must be moved back with normal operation limits of the machine and the limit switch reset This fault condition is latched and requires execution of an explicit M AFR Motion Axis Fault Reset or M ASR Motion Axis Shutdown Reset instruction to clear Publication 1756 RM 007C EN P J uly 2001 A 20 Structures Mnemonic Data Description Type M otFeedbackFault BOOL Set for a specific feedback source when one of the following conditions occurs e The differential electrical signals for one or more of the feedback channels e g A and A B and B or Z and Z are at the same level both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or M ASR M otion Axis Shutdown Reset instruction to clear M otFeedbackN
88. clear IP bitis cleared PC bit is set rung condition out is not affected process complete 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 no process aborted Publication 1756 RM 007C EN P J uly 2001 Arithmetic Status Flags Fault Conditions M RHD Error Codes ERR MRHD Changes to Axis Status Bits MRHD Example Motion Configuration Instructions 6 13 not affected none Error Code Description 3 The instruction tried to execute while another instance of this instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the preceding instruction 4 The axis servo loop is closed 6 The axis drive is enabled 7 8 The axis is in the shutdown state The axis is not configured as a servo or position only axis 11 The axis is not configured 12 M essaging to the servo module failed 18 The axis type is configured as unused 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration 20 The axis is in the faulted state 21 The group is in the faulted state 24 The controller attempted to execute an M DO M SO M AH MAJ MAM MCD MAPC M ATC MAG MRAT or M RHD instruction when the controller was in th
89. configuration M AFR Changes to Servo Module LEDs This LED Will change to Meaning DRIVE Not solid red There are no drive faults M AFR Changes to Axis Status Bits BitName State Meaning POtrviFault False The positive overtravel fault is clear NOtrviFault False The negative overtravel fault is clear PosErrorFault False The position error fault is clear EncCHALossFault False The encoder channel A loss fault is clear EncCHBLossFault False The encoder channel B loss fault is clear EncCHZLossFault False The encoder channel Z loss fault is clear EncNsFault False The encoder noise fault is clear DriveFault False The drive fault is clear HardFault False The servo hardware fault is clear Publication 1756 RM 007C EN P J uly 2001 Motion State Instructions 2 27 M AFR Example MAFF Motion Axis Fault Reset N Axis axis E HCDN gt Motion control axis1_MAFR ER gt When the input conditions are true the controller clears all motion faults for axis1 Other Formats Format Syntax neutral text MAFR axis motion_control ASCII text MAFR axis motion_control Publication 1756 RM 007C EN P J uly 2001 2 28 M otion State Instructions Publication 1756 RM 007C EN P J uly 2001 Introduction Chapter 3 Motion M ove Instructions MAS MAH MAJ MAM MAG MCD MRP MCCP MAPC MATC ATTENTION Tags used for the motion contol attribute of instructions should
90. ct the acceleration units e of maximum acceleration e units per sec Decel units DINT immediate select the deceleration units e of maximum deceleration e units per sec MOTION_INSTRUCTION Structure Mnemonic Data Type Description EN BOOL The enable bit indicates when the instruction is enabled DN BOOL The done bit indicates when the instruction initiates change of axis dynamics ER BOOL The error bit indicates when the instruction detects an error such as if the axis is not configured Publication 1756 RM 007C EN P J uly 2001 M otion M ove Instructions 3 27 Execution Condition Action prescan The EN bit is cleared The DN bit is cleared The ER bit is cleared 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 set Otherwise the EN bit is not affected The DN bit is not affected The ER bit is not affected The rung condition out is set to false rung condition in is true EN bit 0 examine EN bit EN bit is set EN bit remains set yes DN bit remains clear gt ER bit is set rung condition out remains true EN bit remains set rung condition out remains _ gt set to true instruction detects an error no Y C rung condition out is set to true processing runs to completion in motio
91. ction 15 The instruction can not apply the diagnostic parameters because of an error in the run diagnostic test instruction 16 The instruction tried to execute with homing in process 17 The instruction tried to execute a rotary move on an axis that is not configured for rotary operation 18 The axis type is configured as unused 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration 20 The axis is in the faulted state 21 The group is in the faulted state 22 An M SO M otion Servo On or MAH Motion Axis Home instruction was attempted while the axis was in motion 23 An instruction attempted an illegal change of dynamics 24 The controller tried to execute an M DO MSO MAH MAJ MAM MCD M APC MATC MAG M RAT or M RHD instruction when the controller was in the test mode 25 The instruction you tried to execute is not a legal instruction 26 The cam array is of an illegal length 27 The cam profile array is of an illegal length 28 You have an illegal segment type in the cam element 29 You have an illegal order of cam elements 30 You tried to execute while a cam profile is being calculated 31 The cam profile array you tried to execute is in use 32 The cam profile array you tried to execute was not calculated 33 A MAH execution was attempted without the position cam in process 34 You are trying to start a MAH instruction while running a registration
92. ction is disabled DRIVE Flashing red e The drive enable output is inactive e The OK contact is open Bit Name State Meaning ServoActStatus False e Axis is in the axis ready state e Servo loop is inactive DriveEnableStatus False The drive enable output is inactive Shutdow nStatus True The axis is in the shutdown state AccelStatus False The axis is not accelerating DecelStatus False The axis is not decelerating StoppingStatus False The axis is not stopping J ogStatus False The axis is not jogging M oveStatus False The axis is not moving GearingStatus False The axis is not gearing HomingStatus False The axis is not homing TuneStatus False The axis is not running a tuning process TestStatus False The axis is not running a testing process GearingLockedStatus False The axis is not clutching to a new gear speed PositionCamStatus False Pcam motion profile is not in progress TimeCamStatus False Tcam motion profile is not in progress PositionCamLockedStatus False The Pcam is stopped and the lock is cleared TimeCamLockedStatus False The Tcam is stopped and the lock is cleared PositionCamPendingStatus False The pending PCAM profile is cancelled Bit Name TimeCamPendingStatus Motion Group Instructions 4 9 State False Meaning The pending Tcam profile is cancelled MGSD Example Other Formats Motion Group Shutdown Reset MGSR Operands MGSR Motion Group Shutdown Reset Group mic Motion c
93. direction W hen executed for the first time with Unchanged selected the control defaults the direction to Same 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 Scales the total distance covered by the slave or tag axis through the cam profile Master REAL immediate Scales the total distance covered by the master Scaling ortag axis through the cam profile Publication 1756 RM 007C EN P J uly 2001 3 36 Motion Move Instructions Publication 1756 RM 007C EN P J uly 2001 Operand Type Format Description Execution UINT32 Determines if the cam profile is executed only Mode one time or repeatedly 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 onthe 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 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 Persistent When the Master Axis moves
94. drive enable output is active MSO Motion Servo On Axis axis jt Motion control axis1_MSO When the input conditions are true the controller enables the servo drive and activates the axis servo loop configured by axis Publication 1756 RM 007C EN P J uly 2001 2 6 M otion State Instructions Other Formats Format Syntax neutral text MSO axis motion_control ASCII text MSO axis motion_control M otion Servo Off M SF The MSF instruction is an output instruction Use the MSF instruction to disable the servo drive and to deactivate the axis servo loop If you execute an MSF instruction while the axis is IMPORTANT ee moving the axis will coast to an uncontrolled stop Use the MSF instruction to disable servo action Although servo action is disabled the controller continues to track the axis actual position When the servo action is enabled using the Motion Servo On MSO instruction the servo maintains the position The MSF instruction uses message type timing To use the MSF instruction configure the axis as a servo axis Operands ee Operand Type Format Description Motion Servo Off EN3 Axis AXIS tag axis structure Axis Gt DN Motion control cCER gt Motion MOTION _ tag motion structure control INSTRUCTION MOTION_INSTRUCTION Structure Mnemonic Data Type Description EN BOOL The enable bit indicates when the instruction is enabled It remains set
95. ds AASR Operand Type Format Description Wadi Axis Shutdown a em Axis AXIS tag axis structure Motion control i ER3 Motion MOTION tag motion structure control INSTRUCTIO N MOTION_INSTRUCTION Structure Mnemonic Data Type Description The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false The done bit indicates when the instruction clears the axis from the shutdown state The error bit indicates w hen the instruction detects an error such as if the axis is not configured EN BOOL DN BOOL ER BOOL Execution Condition prescan Action The EN bitis cleared The DN bit is cleared The ER bit is cleared 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 set Otherwise the EN bit is not affected The DN bit is not affected The ER bit is not affected The rung condition out is set to false Publication 1756 RM 007C EN P J uly 2001 Condition Action Motion State Instructions 2 15 rung condition in is true examine EN bit EN bit is set EN bit remains set rung condition out remains set to true instruction detects an error no Y rung condition out is set to true Y function complete no D ru EN bit
96. e DN bit is cleared The ER bit is cleared The rung condition out is set to false 4 11 rung condition in is false The EN bit is cleared if either the DN or ER bit is set Otherwise the EN bit is not affected The DN bit is not affected The ER bit is not affected The rung condition out is set to false rung condition in is true examine EN bit EN bit is set EN bit remains set rung condition out remains set to true EN bit remains set yes DN bit remains clear gt ER bit is set instruction detects an error true rung condition out remains no Y rung condition out is set to true processing runs to completion in motion task EN bit remains set yes DN bit is set ERbit remains clear function complete affected rung condition out is not EN bit remains set DN bit remains clear ER bit remains clear rung condition out is not affected Arithmetic Status Flags Fault Conditions not affected Publication 1756 RM 007C EN P J uly 2001 4 12 Motion Group Instructions MGSR Error Codes ERR Error Code Description 3 he instruction tried to execute while another instance of this instruction was executing This can occur when the controller executes a messaging instruction without checking the DN bit of the preceding instructio
97. e 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 M otion M ove Instructions Cam Operation Diagram Tag Editor Motion Planner Ladder Routine SSS Hie Tag Creation Profile Editor ao Data Modification MOTION_INSTRUCTION Structure Mnemonic DataType Description EN BOOL 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 BOOL The done bit is set when the calculate cam instruction has been successfully executed and the Cam Profile array calculated ER BOOL The error bit indicates when the instruction detects an error such as if the cam array is of an illegal length Arithmetic Status Flags not affected Fault Conditions none MCCP Error Codes ERR 3 33 Error Code Error Message Description 26 Illegal Cam Length The cam array is an illegal length 27 Illegal Cam Profile Length The cam profile array is of an illegal length 28 Illegal Cam Type You have an illegal segment type in the cam element 29 Illegal Cam Order You have an illegal order of cam elements 30 Cam Profile Being Calculated You tried to execute while a cam profile is being calculated 31 Cam Profile Being Used The cam profile array you tried to execute is in use Publication 1756 RM 007C EN P
98. e complete 41385 Using the Motion The controller uses the MOTION_INSTRUCTION structure to store status information during the execution of motion instructions Every Instruction Structure motion instruction has an operand that requires a motion instruction structure For each motion instruction you use define a unique motion instruction structure The structure of the motion instruction structure is shown below MOTION_INSTRUCTION structure DECEL ACCEL bitnumber 31 30 29 28 27 26 16 15 1 0 EN DN ER PC IP error code ERR 16 bits message execution SEGMENT Mnemonic Data Type Description 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 Publication 1756 RM 007C EN P J uly 2001 1 8 Motion Concepts Publication 1756 RM 007C EN P J uly 2001 Mnemonic DataType Description ER BOOL The error bit indicates when the instruction is used illegally IP BOOL The in process bit indicates that a process is being executed 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 ACCEL BOOL The ACCEL bit indicates that the velocity has increased for
99. e of the motion control tag in other instructions can cause unintended operation of the control variables Use the motion configuration 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 The motion configuration instructions are If you want to Compute a complete set of servo gains and dynamic limits based on a previously executed M RAT instruction The M AAT instruction also updates the servo module with the new gain parameters Use this instruction See page M AAT 6 2 Command the servo module to run a tuning motion profile for an axis M RAT 6 4 Apply the results of a previously executed M RHD instruction The M AHD instruction generates a new set of encoder and servo polarities based on the observed direction of motion during the M RHD instruction M AHD 6 8 Command the servo module to run one of three diagnostic tests on an axis M RHD 6 10 Publication 1756 RM 007C EN P J uly 2001 6 2 Motion Configuration Instructions Motion Apply Axis Tuning M AAT Axis Motion control MAAT Motion Apply Axis Tuning Operands CEN MOTION_INSTRUCTION The MAAT instruction is an output instruction Use the MAAT instruction to compute a complete set of servo gains and dynamic limits based on a previously executed Motion Run Axis Tuning MRAT in
100. e output of the associated physical axis is currently enabled Cleared when physical servo axis Drive Enable output is currently disabled Shutdow nStatus BOOL Set when the associated axis is currently in the Shutdown state Cleared when the axis is transitioned from the Shutdown state to another state ConfigUpdatelnProcess BOOL The Configuration Update Status Bits attribute provides a method for monitoring the progress of one or more specific module configuration attribute updates initiated by either a Set Attribute List service which is internal to the firmware or an SSV in the user program When such an update is initiated the ControlLogix processor sets this bit This bit will remain set until the Set Attribute List reply comes back from the servo module indicating that the data update process was successful Thus the Configuration Update Status Bits attribute provides a method of waiting until the servo configuration data update to the connected motion module is complete before starting a dependent operation PhysicalAxisFault BOOL Set when one or more fault conditions have been reported by the physical axis The specific fault conditions can then be determined through access to the fault attributes of the associated physical axis A PhysicalAxisFault can be set as either a M ajor Fault or a Non Major Fault in the Attribute tab of the associated M otion Group properties dialog box M oduleFault BOOL Set when
101. e test mode BitName State Meaning DriveEnableStatus True e The axis is in the drive control State e The drive enable output is active while the tuning profile is running TestStatus True The axis is running a testing process RHD Motion Run Hookup Diagnostics Axis axis Motion control axis1_MRHD Diagnostic Test Encoder When the input conditions are true the controller runs the encoder diagnostic test on axis1 Publication 1756 RM 007C EN P J uly 2001 6 14 Motion Configuration Instructions Other Formats Format neutral text Syntax MRHD axis motion_control test ASCII text MRHD axis motion_control test Publication 1756 RM 007C EN P J uly 2001 Introduction AXIS Structures Appendix A Structures This appendix lists the predefined motion structures and the mnemonics for the members you can address within instructions Data type See page AXIS A 1 AXIS_CONSUM ED A 1 AXIS_SERVO A5 AXIS_SERVO_DRIVE A 12 AXIS_ VIRTUAL A 21 MOTION_ GROUP A 26 MOTION INSTRUCTION A 27 CAM A 29 CAM_ PROFILE A 30 OUTPUT_CAM A 30 OUTPUT_COMPENSATION A 31 1 These tags are controller tags only These tags do not support arrays cannot be nested in user defined structure and cannot be passed to another routine via a J SR instruction Some of the more complex structures have attributes in addition to those described in this appendix The additional at
102. e the range limit 19 Group Not Synchronized The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration MAS Changes to Axis Status Bits Bit Name State Meaning StoppingStatus True The axis is stopping J ogStatus False The axis is not jogging M oveStatus False The axis is not moving GearingStatus False The axis is not gearing HomingStatus False The axis is not homing DecelStatus True The axis is decelerating PositionCamStatus False Pcam motion profile is not in progress TimeCamStatus False Tcam motion profile is not in progress PositionCamLockedStatus False The Pcam is stopped and the lock is cleared TimeCamLockedStatus False The Tcam is stopped and the lock is cleared PositionCamPendingStatus False The pending PCAM profile is cancelled TimeCamPendingStatus False The pending Tcam profile is cancelled MasterOffsetM oveStatus False The axis is not offset Publication 1756 RM 007C EN P J uly 2001 3 6 M otion M ove Instructions MAS Example AS Motion Axis Stop Axis Motion control axis1_MAS Stop Type All Change Decel Yes Decel rate decel_rate 2 Decel units of Maximum When the input conditions are true the controller stops motion on axis1 and clears all associated motion status flags Other Formats Format Syntax neutral text ASCII text MAS axis motion_control stop_type cha
103. eceding instruction 4 The axis servo loop is closed 6 The axis drive is enabled 7 8 The axis is in the shutdown state The axis is not configured as a servo axis 11 The axis is not configured 12 M essaging to the servo module failed 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration 20 The axis is in the faulted state 21 The group is in the faulted state 24 The controller attempted to execute an M DO M SO MAH MAJ MAM MCD MAPC M ATC MAG MRAT or M RHD instruction when the controller was in the test mode BitName State Meaning DriveEnableStatus True e The axis is in the drive control state e The drive enable output is active while the tuning profile is running TuneStatus True The axis is running a tuning process MARAT Motion Run Axis Tuning Axis axis E Motion control axis1 _MRAT When the input conditions are true the controller commands the servo module to run a tuning motion profile for axis1 Format Syntax neutral text MRAT axis motion_control ASCII text MRAT axis motion_control Publication 1756 RM 007C EN P J uly 2001 6 8 Motion Configuration Instructions Motion Apply Hookup The MAHD instruction is an output instruction Diagnostics M AHD Use the MAHD instruction to apply the results of a previously executed Motion Run Hookup Diagnostics MRHD inst
104. ected Arithmetic Status Flags Fault Conditions not affected Publication 1756 RM 007C EN P J uly 2001 2 8 M otion State Instructions M SF Error Codes ERR Error Code Description 3 The instruction tried to execute while another instance of this instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the preceding instruction 8 The axis is not configured as a servo axis 11 The axis is not configured 12 M essaging to the servo module failed 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration MSF Changes to Servo M odule LEDs This LED Will change to Meaning FDBK Flashing green Servo action is disabled DRIVE Flashing green The drive enable output is inactive MSF Changes to Axis Status Bits BitName State Meaning ServoActStatus False e Axis is in the axis ready state e Servo loop is inactive DriveEnableStatus False The drive enable output is inactive AccelStatus False The axis is not accelerating StoppingStatus False The axis is not stopping J ogStatus False The axis is not jogging M oveStatus False The axis is not moving GearingStatus False The axis is not gearing HomingStatus False The axis is not homing GearingLockedStatus False The axis is not clutching to a
105. ected The IP bit is not affected The PC bit is not affected The rung condition out is set to false rung condition in is true examine EN bit EN bit 1 EN bit remains set to true rung condition out remains set EN bit 0 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 set to EN bit remains set DN bitis set ER bit remains clear IP bitis set armed PC bit remains clear Y rung condition out is set to true true processing runs to completion in motion task watch event occurred EN bit remains set DN bit remains set ER bit remains clear IP bitis cleared PC bit is set rung condition outis not affected no 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 Publication 1756 RM 007C EN P J uly 2001 5 4 M otion Event Instructions Arithmetic Status Flags Fault Conditions M AW Error Codes ERR MAW Changes to Axis Status Bits MAW Example Other Formats Publication 1756 RM 007C EN P J uly 2001 not affected none Error Code Description 3 The instruction tried to execute while
106. edule is set to Pending Meaning Position camming is enabled Slave Axis is locked to the M aster Axis according to the Cam Profile Bit Name State PositionCamStatus NA PositionCamLockStatus NA PositionCamPendingStatus True Pending position cam The PositionCamPendingStatus bit is immediately set to True and transitions to False when the pending cam becomes the active cam Publication 1756 RM 007C EN P J uly 2001 Format MAPC Example MAFC M otion M ove Instructions 3 41 Motion Axis Position Carn i Slave Axis Slave Aris Master Axis Master Axis Ne Motion Control MAPC_16_contral Direction a Cam Profile CamProfile_O5 0 Pj Slave Scaling 1 0 PC Master Scaling Execution Mode Execution Schedule Master Lock Position 1 0 Once Bi Directional MasterLock_ Position Loe Cam_Lock_Position gge Command Bi Directional Cam Lock Position Master reference Master Direction Other Formats Syntax neutral text MAPC slave_axis master_axis motion_control direction cam_profile slave_ scaling master_scaling execution_mode execution_schedule master_lock_po sition cam_lock_position master_reference master_direction ASCII text MAPC slave_axis master_axis motion_control direction cam_profile slave_scaling master_scaling execution_mode execution_schedule master_lock_position cam_lock_position master_reference master_direction Publication 1756 RM 007C
107. embers is out of range 37 Illegal Output Compensation Either the size of the Output Compensation array is not supported or the value of one of its members is out of range 38 Illegal Axis Data Type The axis data type is illegal The axis data type is incorrect for the operation 39 Process Conflict You have a conflict in your process Test andTune cannot be run at the same time 40 Drive Locally Disabled The Drive is locally disabled You are trying to run a MSO or MAH instruction when the drive is locally disabled 41 Illegal Homing Config The homing configuration is illegal You have an absolute homing instruction when the Homing sequence is not immediate Publication 1756 RM 007C EN P J uly 2001 Motion Concepts 1 11 Message status STATUS Message Description Status O0 Ihemessagewassuccesstul 0x1 The module is processing another message 0x2 The module is waiting fora response to a previous message 0x3 The response to a message failed 0x4 The module is not ready for messaging Execution status STATE 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 Profile Segment SEGM ENT A segment is the distance from one point up to but not including the next point A SEGMENT instruction gives the relative position by segment number as the Cam is executing Publication 1756 RM 007
108. ent Instructions Operand Execution Schedule Type UINT32 Format Description Selects when to arm the Output Cam Options are e Immediate Output Cam is armed at once e Pending Output cam is armed when the cam position of a currently executing Output Cam moves beyond its cam start or cam end position When Pending is selected the following parameters are ignored Output Input Axis Arm Position and Reference Forward only Output Cam is armed when the axis approaches or passes through the specified axis arm position in the forward direction Reverse only Output Camis armed when the axis approaches or passes through the specified axis arm position in the reverse direction Bi directional 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 Bi Directional and the axis moves in the specified direction If Pending is selected as the Execution Schedule then Axis Arm Position is ignored Cam Arm Position SINT INT DINT or AL immediate ortag This defines the cam position associated with the axis arm position when the Output Cam is armed Reference UINT32 Sets whether the Output Cam is connected to either Command p
109. ent state of the dedicated Registration 1 input is active Clear when the Registration 1 input is inactive Reg2InputStatus BOOL Set when the current state of the dedicated Registration 1 input is active Clear when the Registration 1 input is inactive PosOvertravellnputStatus BOOL Set when the current state of the dedicated Positive Overtravel input is active Clear when the Positive Overtravel input is inactive NegOvertravellnputStatus BOOL Set when the current state of the dedicated Negative Overtravel input is active Clear when the Negative Overtravel input is inactive Publication 1756 RM 007C EN P J uly 2001 Mnemonic POtraviFault Data Type BOOL Structures A 11 Description Set when the axis has traveled or attempted to travel beyond the current configured value for Maximum Positive Travel Cleared when the axis is moved back within this travel limit NOtraviFault BOOL Set when the axis has traveled or attempted to travel beyond the current configured value for Maximum Negative Travel Cleared when the axis is moved back within this travel limit PosHardOvertravelFault BOOL Set when the axis has traveled beyond the current positive direction position limits as established by hardware limit switches mounted on the machine To recover the axis must be moved back with normal operation limits of the machine and the limit switch reset This fault condition is latched and requires execution of an ex
110. ents occurs e The M RHD instruction completes e An instruction or a servo fault terminates the M RHD instruction PC BOOL The process complete bit sets when the instruction completes the diagnostic test process Publication 1756 RM 007C EN P J uly 2001 6 12 Motion Configuration Instructions Execution Condition Action prescan The EN bit is cleared The DN bit is cleared The ER bit is cleared The IP bit is cleared The PC bit is cleared The rung condition out is set to false rung condition in is false The EN bitis cleared if either the DN or ER bitis set Otherwise the EN bit is not affected The DN bit is not affected The ER bit is not affected The IP bit is not affected The PC bit is not affected The rung condition out is set to false rung condition in is true 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 set to true EN bit remains set Cent DN bit is set ER bit remains clear IP bitis set PC bit remains clear Y oe rung condition out is set to true EN bit remains set rung condition out remains set to true instruction detects an error processing runs to completion EN bit remains set in motion task DN bit remains set ER bit remains
111. equences 1 3 MOTION_INSTRUCTION structure and it smembers 1 8 The motion instruction set consists of five groups of instructions Group For more information see M otion state instructions Chapter 2 M otion move instructions Chapter 3 Motion group instructions Chapter 4 M otion event instructions Chapter 5 M otion configuration instructions Chapter 6 These instructions operate on one or more axes You must identify and configure axes before you can use them For more information about configuring an axis refer to the ControlLogix Motion Module Setup and Configuration Manual publication 1756 UMO006 Motion status and configuration parameters You can read motion status and configuration parameters in your ladder logic program using two methods Method Example For more information Directly accessing the e axis faults See appendix A MOTION_ GROUP and AXIS e motion status structures structures e servo status Using the GSV instruction e actual position See Logix5550 e command Controller Instruction position Set Reference M anual e actual velocity Publication 1756 RM 003 Publication 1756 RM 007C EN P J uly 2001 1 2 Motion Concepts Understanding Instruction Timing Publication 1756 RM 007C EN P J uly 2001 Modifying motion configuration parameters In your ladder logic program you can modify motion configuration parameters using the SSV instruction For example you can change position loop
112. er sec Decel rate SINT INT immediate or deceleration rate of the axis DINT or tag REAL Decel units DINT immediate select the deceleration units 0 of maximum deceleration 1 units per sec Profile DINT immediate select the velocity profile to run the move 0 trapezoidal 1 S curve Merge DINT immediate select whether to turn all axis movement into pure move 0 disabled 1 enabled Publication 1756 RM 007C EN P J uly 2001 MOTION_INSTRUCTION Structure Mnemonic Data Type M otion M ove Instructions 3 17 Operand Type Format Description Merge speed DINT immediate if you enabled M erge select the speed of the move profile 0 programmed value in the speed field 1 current axis speed When the MAM instruction is used to initiate a Master Offset Move the following operands differ from a move instruction e Axis defines the slave axis e Move Type to start a Master Offset Move it must be set to either Absolute Master Offset or Incremental Master Offset Position Speed Accel Rate Decel Rate all are in terms of the master axis user units Speed Units Accel Units Decel Units are in terms of the master axis user units Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until the rung condition in goes false DN BOOL The done bit indicates when the instruction initiates an axis move ER BOOL The error bit indicates when the i
113. er to the drive system You can use the OK contacts to open the contacts that open the E stop string if wired that controls the The axis will remain in the shutdown state until either a Motion Axis Shutdown Reset MASR instruction or a Motion Group Shutdown Reset MGSR instruction executes Publication 1756 RM 007C EN P J uly 2001 2 10 M otion State Instructions The MASD instruction uses message type timing To use the MASD instruction configure the axis as either a servo axis ora position only axis Operands aon Operand Type Format Description Motion Axis Shutdown CEND Axis AXIS tag axis structure Axis Gt DN Motion control CER gt Motion MOTION_ tag motion structure control INSTRUCTION MOTION_INSTRUCTION Structure Mnemonic Data Type Description The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false The done bit indicates when the instruction sets the axis to the shutdown state The error bit indicates when the instruction detects an error such as if the axis is not configured EN BOOL DN BOOL ER BOOL Execution Condition prescan Action The EN bitis cleared The DN bit is cleared The ER bit is cleared The rung condition out is set to false rung condition in is false The EN bitis cleared if either the DN or ER bitis set Otherwise the EN bit is not
114. essor sets this bit This bit will remain set until the Set Attribute List reply comes back from the servo module indicating that the data update process was successful Thus the Configuration Update Status Bits attribute provides a method of waiting until the servo configuration data update to the connected motion module is complete before starting a dependent operation PhysicalAxisFault BOOL Set when one or more fault conditions have been reported by the physical axis The specific fault conditions can then be determined through access to the fault attributes of the associated physical axis A PhysicalAxisFault can be set as eithera M ajor Fault or a Non Major Fault in the Attribute tab of the associated M otion Group properties dialog box M oduleFault BOOL Set when a serious fault has occurred with the motion module associated with the selected axis Usually a module fault affects all axes associated with the motion module A module fault generally results in the shutdown of all associated axes Reconfiguration of the motion module is required to recover from a module fault condition A M oduleFault can be set as either a M ajor Fault or a Non M ajor Fault in the Attribute tab of the associated M otion Group properties dialog box Publication 1756 RM 007C EN P J uly 2001 A 10 Structures Mnemonic Data Description Type ConfigFault BOOL Set when an update operation t
115. execution mode execution_schedule axis_arm_position cam_arm_position reference Publication 1756 RM 007C EN P J uly 2001 M otion Event Instructions 5 23 Motion Disarm Output Cam The MDOC instruction terminates an Output Cam Upon execution of M D 0C this instruction it disarms either one or all Output Cams connected to a specified axis depending on the selection in the Disarm Type operand The corresponding outputs maintain the last state after disarming Operands noc Operand Type Format Description Motion Disarm Output Cam ey Axis AXIS tag a te provides the position input to the H utput Cam Execution SINT INT or immediate The execution target defines the specific Output Execution Target Target DINT ortag Cam from the set connected to the named axis Behavior is determined by the following Motion Control e 0 8 Output Cams executed in the Logix Disarm Type controller e 9 31 Reserved for future use Motion MOTION tag Structure used to access block status Control INSTRUCTION parameters Disarm Type UINT32 Select a disarm type to either disarm all of the Output Cams or just a specific Output Cam e All Disarms all Output Cams connected to the specified axis e Specific Disarms the Output Cam that is connected to the specified axis and defined by the Execution Target MOTION_INSTRUCTION Structure Mnemonic Data Type Number Description EN BOOL 31 The enable bit is set
116. fied The array size is limited by the available memory of the Logix controller Cam Start SINT INT DINT or immediate Cam Start Position with the Cam End Position REAL ortag Position define the left and right boundaries of the Output Cam range M otion Event Instructions 5 15 Operand Type Format Description Cam End SINT INT DINT or immediate Cam End Position with the Cam Start Position EAL ortag Position define the left and right boundaries of the Output Cam range Output OUTPUT array tag ls an array of 1 to 32 Compensation COMPENSATION OUTPUT_COM PENSATION elements The array indices correspond to the output bit numbers The minimum size of an array is determined by the highest compensated output bit Execution UINT32 There are three 3 possible execution Mode modes The behavior is determined by the mode selected The options are e Once Output Cam is disarmed and the Process Complete Bit of the M otion Instruction is set when the cam position moves beyond the cam start or the cam end position 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 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 Publication 1756 RM 007C EN P J uly 2001 5 16 Motion Ev
117. fset REAL Start Master Offset in M aster Position Units CommandPosition REAL Command Position in Position Units StrobeCommandPosition REAL Strobe Command Position in Position Units StartCommandPosition REAL Start Command Position in Position Units CommandVelocity REAL Command Velocity in Position Units Sec CommandAcceleration REAL Command Acceleration in Position Units Sec2 InterpolatedCommandPosition REAL Interpolated Command Position in Position Units AccelStatus BOOL Setif the axis is currently being commanded to accelerate DecelStatus BOOL Setif the axis is currently being commanded to decelerate M oveStatus BOOL Setif a M ove motion profile is currently in progress Cleared when the M ove is complete or is Superseded by some other motion operation J ogStatus BOOL Set if a og motion profile is currently in progress Cleared when the J og is complete or is Superseded by some other motion operation GearingStatus BOOL Setif the axis is a slave that is currently Gearing to another axis Cleared when the gearing operation is stopped or is superseded by some other motion operation HomingStatus BOOL Set if a Home motion profile is currently in progress Cleared when the homing operation is stopped or is superseded by some other motion operation StoppingStatus BOOL Setif there is a stopping process currently in progress Cleared when the stopping process is complete Note The stopping process is used to stop an axis initiated by an MAS
118. gLockStatus 12 BOOL Gearing Lock Status PositionCamLockStatus 13 BOOL Position Cam Lock Status TimeCamLockStatus 14 BOOL Time Cam Lock Status M asterOffsetM oveStatus 15 BOOL M aster Offset M ove Status AxisStatus DINT The status bits for your axis Bit Number Data Type Description ServoActStatus 00 BOOL Servo Action Status DriveEnableStatus 01 BOOL Drive Enable Status Shutdow nStatus 02 BOOL Axis Shutdown Status ConfigUpdatelnProcess 03 BOOL Configuration Update in Process AxisFault DINT The axis faults for your axis Bit Number Data Type Description PhysicalAxisFault 00 BOOL Physical Axis Fault M oduleFault 01 BOOL M odule Fault ConfigFault 02 BOOL Configuration Fault AxisEvent DINT The event status for your axis Bit Number Data Type Description WatchEvArmStatus 00 BOOL Watch Event Armed Status WatchEvStatus 01 BOOL Watch Event Status RegEvArmStatus 02 BOOL Registration Event 1 Armed Status RegEvStatus 03 BOOL Registration Event 1 Status RegEv2ArmStatus 04 BOOL Registration Event 2 Armed Status RegEv2Status 05 BOOL Registration Event 2 Status HomeEvArmStatus 06 BOOL Home Event Armed Status HomeEvStatus 07 BOOL Home Event Status ActualPosition REAL Actual Position in Position Units StrobeActualPosition REAL Strobe Actual Position in Position Units StartActualPosition REAL Start Actual Position in Position Units AverageVelocity REAL Average Velocity in Position Units Sec ActualVelocity REAL Actual Velocity in Position Units
119. ify this value during axis configuration Common uses for this instruction include e Stopping motion initiated by a preceding Motion Direct Drive On MDO instruction e Changing an axis from the direct drive control operating state to the axis ready operating state To use the MDF instruction configure the axis as a servo axis Operand Type Format Description Axis AXIS tag axis structure Motion MOTION tag motion structure control INSTRUCTIO N MOTION_INSTRUCTION Structure Mnemonic Data Type M otion State Instructions 2 21 Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN BOOL The done bit indicates when the instruction disables the axis drive signals ER BOOL The error bit indicates when the instruction detects an error such as if the axis is not configured Execution Condition Action prescan The EN bit is cleared The DN bit is cleared The ER bit is cleared 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 EN bit is not affected The DN bit is not affected The ER bit is not affected The rung condition out is set to false Publication 1756 RM 007C EN P J uly 2001 2 22 M otion State Instructions Condition Action rung condition in is true
120. il servo messaging completes and the rung condition in goes false DN BOOL The done bit indicates when the instruction enables axis servo action ER BOOL The error bit indicates when the instruction detects an error such as if the axis is not configured Publication 1756 RM 007C EN P J uly 2001 2 4 Motion State Instructions Execution Condition prescan Action The EN bit is cleared The DN bit is cleared The ER bit is cleared 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 set Otherwise the EN bit is not affected The DN bit is not affected The ER bit is not affected The rung condition out is set to false rung condition in is true EN bit 0 examine EN bit EN bit remains set set to true rung condition out remains __B gt EN bit is set EN bit remains set yes DN bit remains clear gt ER bit is set rung condition out remains true instruction detects an error no Y o rung condition out is set to true processing runs to completion in motion task EN bit remains set yes DN bit is set ERbit remains clear rung condition out is not affected function complete EN bit remains set DN bit remains clear ER bit remains clear rung condition
121. ing PositionCamLockStatus BOOL Set whenever the master axis satisfies the starting condition of a currently active Position Cam motion profile The starting condition is established by the Start Control and Start Position parameters of the M APC instruction This bit is bit is cleared when the current position cam profile completes or is superseded by some other motion operation In uni directional master direction mode the Position Cam Lock Status bit is cleared when moving in the wrong direction and sets when moving in the correct direction M asterOffsetM oveStatus BOOL Set if a M aster Offset M ove motion profile is currently in progress This bit is cleared when the Master Offset M ove is complete or is superseded by some other motion operation ServoActStatus BOOL Set when the associated axis is under servo control Cleared when servo action is disabled DriveEnableStatus BOOL Set when the Drive Enable output of the associated physical axis is currently enabled Cleared when physical servo axis Drive Enable output is currently disabled Shutdow nStatus BOOL Set when the associated axis is currently in the Shutdown state Cleared when the axis is transitioned from the Shutdown state to another state ConfigUpdatelnProcess BOOL The Configuration Update Status Bits attribute provides a method for monitoring the progress of one or more specific module configuration attribute upda
122. ion control axis1_MCD N gt 3 Motion Type Jog Change Speed Yes ER Speed speed 5 Change Accel Yes Accel rate accel_rate Change Decel No Decel rate decel_rate Speed units of Maximum Accel units of Maximum Decel units of Maximum When the input conditions are true the controller changes the speed acceleration or deceleration rate of a move profile or jog profile in progress for axis1 Other Formats Format Syntax neutral text MCD axis motion_control motion_type change_speed speed change_accel accel_rate change_decel decel_rate speed_units accel_units decel_units ASCII text MCD axis motion_control motion_type change_speed speed change_accel accel_rate change_decel decel_rate speed_units accel_units decel_units Publication 1756 RM 007C EN P J uly 2001 M otion M ove Instructions 3 29 Motion Redefine Position The MRP instruction is an output instruction M RP Use the MRP instruction to change the command or actual position of an axis This instruction does not cause any motion the axis position is only redefined The controller can calculate new axis positions in two ways e Absolute where the controller assigns the position value as the new actual or command position e Relative where the controller adds the position value to the current actual or command position The MRP instruction uses message type timing To use the MRP instruction configure the axis as either a servo a
123. ion detects an error no Y rung condition out is set to true function complete EN bit remains set DN bit remains clear ER bit remains clear rung condition out is not affected yes yes EN bit remains set DN bit remains clear ER bit is set rung condition out remains 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 Arithmetic Status Flags Fault Conditions Publication 1756 RM 007C EN P J uly 2001 not affected none M DO Error Codes ERR MDO Changes to Servo Module LEDs M DO Changes to Axis Status Bits Error Code M otion State Instructions 2 19 Description 3 he instruction tried to execute while another instance of this instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the preceding instruction 4 The axis servo loop is closed 7 The axis is in the shutdown state 8 The axis is not configured as a servo position only or virtual axis 11 The axis is not configured 12 M essaging to the servo module failed 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration 20 The axis is in the faulted state 21 The group is in the
124. ion is established by the Start Control and Start Position parameters of the M APC instruction This bit is bit is cleared when the current position cam profile completes or is superseded by some other motion operation In uni directional master direction mode the Position Cam Lock Status bit is cleared when moving in the wrong direction and sets when moving in the correct direction M asterOffsetM oveStatus BOOL Set if a M aster Offset M ove motion profile is currently in progress This bit is cleared when the Master Offset M ove is complete or is superseded by some other motion operation ServoActStatus BOOL Set when the associated axis is under servo control Cleared when servo action is disabled DriveEnableStatus BOOL Set when the Drive Enable output of the associated physical axis is currently enabled Cleared when physical servo axis Drive Enable output is currently disabled Shutdow nStatus BOOL Set when the associated axis is currently in the Shutdown state Cleared when the axis is transitioned from the Shutdown state to another state ConfigUpdatelnProcess BOOL The Configuration Update Status Bits attribute provides a method for monitoring the progress of one or more specific module configuration attribute updates initiated by either a Set Attribute List service which is internal to the firmware or an SSV in the user program When such an update is initiated the ControlLogix proc
125. is accelerating DecelStatus True The axis is decelerating M oveStatus False The axis is not moving GearingStatus False The axis is not gearing PositionCamStatus False Pcam motion profile is not in progress TimeCamStatus False Tcam motion profile is not in progress PositionCamPendingStatu False The pending PCAM profile is S cancelled TimeCamPendingStatus False The pendingTcam profile is cancelled 1 If you selected the merge option the MAJ instruction will change this status bit Publication 1756 RM 007C EN P J uly 2001 Format neutral text MAJ Example Other Formats Syntax M otion M ove Instructions 3 15 MAJ Motion Axis Jog N Axis axis E Motion control axis1_MAJ N gt H Direction forward 1 Ry speed 5 IP gt of Maximum accel_rate 2 of Maximum decel_rate 2 of Maximum S Curve Enabled Current Speed Speed units Accel rate Accel units Decel rate Decel units Profile Merge Merge speed When the input conditions are true the controller initiates a jog motion for MAJ axis motion_control direction speed units accel_rate units decel_rate units profile merge merge_speed ASCII text MAJ axis motion_control direction speed units accel_rate units decel_rate units profile merge merge_speed Motion Axis Move MAM The MAM instruction is an output instruction This instruction is used to initiate a move profile for an axis or a Master Offset Move The M
126. is instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the preceding instruction 4 The instruction tried to execute on an axis with a closed servo loop 7 The axis is in the shutdown state 8 The axis is not configured as a servo or position only axis 11 The axis is not configured 12 M essaging to the servo module failed 15 The instruction can not apply the diagnostic parameters because of an error in the run diagnostic test instruction 18 The axis type is configured as unused 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration MAHD Example MAHD Motion Apply Hookup Diagnostics Axis axis Motion control axis _MAHD Diagnostic Test Marker Observed Direction Forward When the input conditions are true the controller applies the results of a previously executed M otion Run Hookup Diagnostics M RHD instruction to axis1 Other Formats Format Syntax neutral text MAHD axis motion_control test direction ASCII text MAHD axis motion_control test direction Motion Run Hookup The MRHD instruction is an output instruction Diagnostics MRHD Publication 1756 RM 007C EN P J uly 2001 Use the MRHD instruction to command the servo module to run one of three diagnostic tests on an axis The MRHD instruction also uses the TestDirection attribute as
127. is is decelerating ServoActStatus False The axis is in the axis ready state The servo loop is inactive DriveEnableStatus False The drive enable output is inactive PositionCamStatus False Pcam motion profile is not in progress TimeCamStatus False Tcam motion profile is not in progress PositionCamLockedStatus False The Pcam is stopped and the lock is cleared TimeCamLockedStatus False The Tcam is stopped and the lock is cleared PositionCamPendingStatus False The pending PCAM profile is cancelled TimeCamPendingStatus False The pending Tcam profile is cancelled MGS Motion Group Stop Group Motion Control Stop Mode Fast Stop When the input conditions are true the controller stops motion on all axes in groupl After the controller stops all motion the axes are inhibited Publication 1756 RM 007C EN P J uly 2001 4 6 Motion Group Instructions Other Formats Format Syntax neutral text MGS group motion_control stop_mode ASCII text MGS group motion_control stop_mode 1 This bit is set or cleared depending on the type of programmed stop selected for each axis Motion Group Shutdown The MGSD instruction is an output instruction MGSD Use the MGSD instruction to force all axes in a group into the shutdown operating state The shutdown state of an axis means e The servo is disabled e The drive enable output is immediately deactivated e The servo output level sets to the output off
128. istration instruction Cleared when either a registration event occurs or a M DR M otion Disarm Registration instruction is executed for registration input 2 RegEv2Status BOOL Setwhen a registration event has occurred on registration input 2 Cleared when either another M AR M otion Arm Registration instruction or a M DR M otion Disarm Registration instruction is executed for registration input 2 HomeEvArmStatus BOOL Set when a home event has been armed through execution of the MAH Motion Axis Home instruction Cleared when a home event occurs HomeEvStatus BOOL Setwhenahome event has occurred Cleared when another M AH M otion Axis Home instruction is executed ProcessStatus BOOL Set when there is an axis tuning operation or an axis hookup diagnostic test operation in progress on the associated physical axis OutLmtStatus BOOL Set when the magnitude of the output of the associated physical servo axis has reached or exceeded the configured Output Limit value PosLockStatus BOOL Setwhen the magnitude of the axis position error has become less than or equal to the configured Position Lock Tolerance value for the associated physical axis HomeSwitchStatus BOOL Setwhen the current state of the dedicated Home input is active Cleared when the Home input is inactive DriveFaultInputStatus BOOL Set when the current state of the Drive Fault input is active Cleared when the Drive Fault input is inactive ReglInputStatus BOOL Set when the curr
129. istration Event 1 Armed Status RegEvStatus 03 BOOL Registration Event 1 Status RegEv2ArmStatus 04 BOOL Registration Event 2 Armed Status RegEv2Status 05 BOOL Registration Event 2 Status HomeEvArmStatus 06 BOOL Home Event Armed Status HomeEvStatus 07 BOOL Home Event Status ActualPosition REAL Actual Position in Position Units StrobeActualPosition REAL Strobe Actual Position in Position Units StartActualPosition REAL Start Actual Position in Position Units AverageVelocity REAL Average Velocity in Position Units Sec ActualVelocity REAL Actual Velocity in Position Units Sec ActualAcceleration REAL Actual Acceleration in Position Units Sec2 WatchPosition REAL Watch Position in Position Units Publication 1756 RM 007C EN P J uly 2001 Structures A 23 Mnemonic Data Description Type RegistrationPosition REAL Registration 1 Position in Position Units Registration2Position REAL Registration 2 Position in Position Units Registration1Time DINT Registration 1 Time as CST time in microseconds Registration2Time DINT Registration 2 Time as CST time in microseconds InterpolationTime DINT Interpolation Time as CST time in microseconds InterpolatedActualPosition REAL Interpolated Actual Position in Position Units M asterOffset REAL Master Offset in M aster Position Units StrobeM asterOffset REAL Strobe M aster Offset in M aster Position Units StartM asterOf
130. lation Instructions publication 1756 5 33 Using the controller Logix5550 Controller User M anual publication 1756 PM 001 Programming a sequential application Logix5550 Controller Instruction Set Reference M anual publication 1756 RM 003 Programming a motion application You are here D Logix5550 Controller M otion Instruction Set Reference M anual publication 1756 RM 007 Configuring and communicating with digital 1 0 modules Digital M odules User M anual publication 1756 6 5 8 Configuring analog 1 0 modules Analog Modules User M anual publication 1756 6 5 9 Configuring and using motion modules ControlLogix M otion M odule Setup and Configuration M anual publication 1756 UM 006 Selecting and installing a chassis ControlLogix Chassis Installation Instructions publication 1756 5 69 Selecting and installing a power supply ControlLogix Power Supply Installation Instructions publication 1756 5 1 Who Should Use This M anual Purpose of This Manual This document provides a programmer with details about the motion instructions that are available for a Logix5550 controller You should already be familiar with how the Logix5550 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 This manual provides informa
131. ltage is below the predefined operating limits for the bus Pow erPhaseLossFault BOOL Setwhen the drive detects that one or more of the three power line phases is lost from the 3 phase power inputs PosErrorFault BOOL Set when the servo has detected that the axis position error has exceeded the current configured value for Position ErrorTolerance This fault condition is latched and requires execution of an explicit M AFR Motion Axis Fault Reset or M ASR Motion Axis Shutdown Reset instruction to clear OutputCamStatus DINT A setof bits that are set when the Output Cam has been initiated OutputCamPendingStatus DINT A setof bits that are set when an Output Cam is waiting for an armed Output Cam to move beyond its cam start cam end position OutputCamLockStatus DINT A setof bits that are set when an Output Cam is locked to the M aster Axis OutputCamTransitionStatus DINT A setof bits that are set when the transition from the current armed Output Cam to the pending Output Cam is in process The bit number corresponds with the execution target number One bit per execution target AXIS_VIRTUAL Structure A virtual axis object is an axis with full motion planner operation but is not associated with any physical device Publication 1756 RM 007C EN P J uly 2001 A 22 Structures The AXIS VIRTUAL structure contains the following status attributes Mnemonic Data Description Type M otionStatus
132. n 12 M essaging to the servo module failed 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration MGSR Changes to Servo M odule LEDs This LED Will change to Meaning FDBK Flashing green Servo action is disabled DRIVE Flashing green e The drive enable output is inactive e The OK contact is closed MGSR Changes to Axis Status Bits BitName State Meaning ShutdownStatus False The axis is not in the shutdown state MGSR Example MGSR Motion Group Shutdown Reset Group group jt Motion control group _MGSR When the input conditions are true the controller transitions all axes in group1 from the shutdown operating state to the axis ready operating state Other Formats Format Syntax neutral text MGSR group motion_control ASCII text MGSR group motion_control Publication 1756 RM 007C EN P J uly 2001 Motion Group Instructions 4 13 Motion Group Strobe The MGSP instruction is an output instruction Position M GSP Use the MGSP instruction to latch the current command and actual position of all axes in a group These values are latched in the StrobeActualPosition and StrobeCommandPosition attributes You can read these values by using the GSV instruction The MGSP instruction uses immediate type timing To use the MGSP instruction the group must be configured Operands Operand Type Format Descri
133. n An MSO Motion Servo On or MAH Motion Axis Home instruction was attempted while the axis was in motion 23 Illegal Dynamic Change An instruction attempted an illegal change of dynamics 24 Illegal AC M ode Op The controller attempted to execute an M DO MSO MAH MAJ MAM MCD MAPC MATC MAG M RAT or M RHD instruction when the controller was in the test mode 25 Illegal Instruction You attempted to execute an instruction that is not correct 26 Illegal CAM Length The cam array is of an illegal length 2 Illegal CAM Profile Length The cam profile array is of an illegal length 28 Illegal CAM Type You have an illegal segment type in the cam element 29 Illegal CAM Order You have an illegal order of cam elements 30 CAM Profile Being Calculated You tried to execute a cam profile while it is being calculated 31 CAM Profile Being Used The cam profile array you tried to execute is in use 32 CAM Profile Not Calculated The cam profile array you tried to execute has not been calculated 33 Position Cam Not Enabled Attempted an execution without position cam currently in progress 34 Registration In Progress An MAH instruction is trying to start while registration is already running 35 Illegal Execution Target The Logix controller does not support the specified Output Cam 36 Illegal Output CAM Either the size of the Output Cam array is not supported or the value of one of its m
134. n Incremental M aster Offset or Absolute M aster Offset M ove Type the M asterOffsetM oveStatus bit is set If any other M ove Type is selected the M oveStatus bit is set Publication 1756 RM 007C EN P J uly 2001 3 20 Motion M ove Instructions Format neutral text MAM Example Other Formats Syntax MAM Motion Axis Move N Axis axis E Motion control axis _MAM CDN3 Move type type D R gt Position position 0 IP gt Speed speed 5 PCS of Maximum accel_rate 2 of Maximum decel_rate 2 of Maximum S Curve Merge Enabled Merge speed Current Speed units Accel rate Accel units Decel rate Decel units Profile When the input conditions are true the controller initiates a move foraxis1 MAM axis motion_control move_type position speed units accel_rate units decel_rate units profile merge merge_speed ASCII text MAM axis motion_control move_type position speed units accel_rate units decel_rate units profil merge merge_speed Motion Axis Gearing MAG The MAG instruction is an output instruction Publication 1756 RM 007C EN P J uly 2001 Use the MAG instruction to provide electronic gearing between any two axes The MAG instruction uses immediate and process type timing To use the MAG instruction e Configure the slave axis as a servo or virtual axis e Ensure that the slave axis operating state is servo on if the axis type is servo M otion
135. n task EN bit remains set yes DN bit is set _ _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 Arithmetic Status Flags not affected Fault Conditions none Publication 1756 RM 007C EN P J uly 2001 3 28 Motion M ove Instructions MCD Error Codes ERR Error Code Error Message Description 5 Servo Off State Error The instruction tried to execute on an axis whose servo oop is not closed 7 Shutdown State Error The axis is in the shutdown state 8 Illegal Axis Type The axis is not configured as a servo or virtual axis 11 Axis Not Configured The axis is not configured 13 Parameter Out Of Range The instruction tried to use a parameter that is outside the range limit 16 Home In Process Error The instruction tried to execute with homing in progress 19 Group Not Synchronized The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration 23 Illegal Dynamic Change An instruction attempted an illegal change of dynamics 24 Illegal AC M ode Op The controller attempted to execute an MDO MSO MAH MAJ MAM MCD MAPC MATC MAG M RAT or MRHD instruction when the controller was in the test mode MCD Example MCD Motion Change Dynamics CEN Axis axis E Mot
136. n the e controller sets the It instruction executes Detects an error when the instruction The controller sets the ER bit and executes stores an error code in the control structure 3 The next time the rung becomes false after either the DN or ER bit sets the controller clears the EN bit 4 The controller can execute the instruction again when the rung becomes true Scan Scan Scan Scan rung true rungtrue rung false rung true 41384 Message type instructions Message type motion instructions send one or more messages to the servo module Examples of message type instructions include the e Motion Direct Drive On MDO instruction e Motion Redefine Position MRP instruction Publication 1756 RM 007C EN P J uly 2001 1 4 Motion Concepts Publication 1756 RM 007C EN P J uly 2001 Message type instructions work as follows 1 N When the rung that contains the motion instruction becomes true the controller 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 instruction 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 co
137. nd B channels called feedback noise Feedback noise is most often caused by loss of quadrature in the feedback device itself or radiated common mode noise signals being picked up by the feedback device wiring both of which may be able to be seen on an oscilloscope This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear GroundShortFault Set for an auxiliary feedback source when one of the following conditions occurs e The differential electrical signals for one or more of the feedback channels e g A and A B andB or Z and Z are at the same level both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or M ASR M otion Axis Shutdown Reset instruction to clear DriveHardFault BOOL Set when the drive detects a serious hardware fault OverspeedFault BOOL Set when the speed of the axis as determined from the feedback has exceeded the overspeed limit which is typically set to 150 of configured velocity limit for the motor OverloadFa
138. nd its cam start cam end position OutputCamLockStatus DINT A set of bits that are set when an Output Cam is locked to the M aster Axis OutputCamTransitionStatus DINT A set of bits that are set when the transition from the current armed Output Cam to the pending Output Cam is in process The bit number corresponds with the execution target number One bit per execution target AXIS_SERVO Structure A servo object represents an axis with full motion planner functionality and integrated configuration support It is associated with modules that close a servo loop and send an analog command to an external drive such as a 1756 M02AE module Publication 1756 RM 007C EN P J uly 2001 A 6 Structures The AXIS SERVO structure contains and following status attributes Mnemonic Data Description Type M otionStatus DINT The motion status bits for your axis Bit Number Data Type Description AccelStatus 00 BOOL Acceleration Status DecelStatus 01 BOOL Deceleration Status M oveStatus 02 BOOL M ove Status J ogStatus 03 BOOL J og Status GearingStatus 04 BOOL Gearing Status HomingStatus 05 BOOL Homing Status StoppingStatus 06 BOOL Stopping Status AxisHomedStatus 07 BOOL Homed Status PositionCamStatus 08 BOOL Position Cam Status TimeCamStatus 09 BOOL Time Cam Status PositionCamPendingStatus 10 BOOL Position Cam Pending Status TimeCamPendingStatus 11 BOOL Time Cam Pending Status Gearin
139. new gear speed PositionCamStatus False Pcam motion profile is not in progress TimeCamStatus False Tcam motion profile is not in progress PositionCamLockedStatus False The Pcam is stopped and the lock is cleared TimeCamLockedStatus False The Tcam is stopped and the lock is cleared TuneStatus False The axis is not running a tuning process TestStatus False The axis is not running a testing process PositionCamPendingStatus False The pending PCAM profile is cancelled TimeCamPendingStatus False The pending Tcam profile is cancelled Publication 1756 RM 007C EN P J uly 2001 M SF Example Other Formats Motion Axis Shutdown MASD Motion State Instructions MSF Motion Servo Off Axis axis jt Motion control axis1_MSF When the input conditions are true the controller disables the servo drive and the axis servo loop configured byaxis Format Syntax neutral text MSF axis motion_control ASCII text MSF axis motion_control The MASD instruction is an output instruction Use the MASD instruction to force an axis into the shutdown 2 9 operating state Once the axis is in the shutdown operating state the controller will block any instructions that initiate axis motion If an axis is in the shutdown operating state it means e The axis servo action is disabled e The drive enable output is inactive e There is no servo output e The servo module OK contacts are open TIP gt pow
140. nge_decel rate_units MAS axis motion_control stop_type change_decel rate units Motion Axis Home MAH The MAH instruction is an output instruction Use the MAH instruction to home an axis Two different homing modes are available e Active the axis executes the configured home sequence type and establishes an absolute axis position e Passive the axis waits for the next marker pulse to establish an accurate home position The MAH instruction uses message and process type timing To use the MAH instruction If you want to use Then Active homing e Configure the axis as a servo or virtual axis e Ensure that the axis operating state is servo on or axis ready Passive homing Configure the axis as either a servo axis ora position only axis Publication 1756 RM 007C EN P J uly 2001 Operands MAH Motion Axis Home Axis CDN3 Motion control CER 3 IP 3 CPC MOTION_INSTRUCTION Structure M otion M ove Instructions 3 7 Operand Type Format Description Axis AXIS tag axis structure Motion M OTION_ tag motion structure control INSTRUCTION Mnemonic Data Type Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN BOOL The done bit sets when homing completes or is aborted ER BOOL The error bit indicates when the instruction detects an error
141. nstruction detects an error such as if the axis is not configured IP BOOL e The in process bit sets when the move process is successfully initiated e t resets when one of the following events occurs e The MAM instruction completes e The move is aborted e A servo fault terminates the MAM instruction PC BOOL The process complete bit sets when the instruction completes an axis move 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 Execution Condition Action pean menean aN The DN bit is cleared The ER bit is cleared The IP bit is cleared The PC bit is cleared The rung condition out is set to false Publication 1756 RM 007C EN P J uly 2001 3 18 Motion M ove Instructions Condition Action EN DIU is not affected The DN bit is not affected The ER bit is not affected The IP bit is not affected The PC bit is not affected The rung condition out is set to false rung condition in is true 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 set to true EN bit remains set Cent DN bitis set ER bit
142. ntrol tag in other instructions can cause unintended operation of the control variables Motion event instructions control the arming and disarming of special event checking functions such as registration and watch position The motion event instructions are If you want to Use this instruction See page Arm watch position event checking MAW 5 1 foran axis Disarm watch position M DW 5 5 event checking for an axis Arm servo module MAR 5 7 registration event checking for an axis Disarm servo module MDR 5 11 registration event checking for an axis Arm an Output Cam M AOC 5 14 Disarm an Output Cam M DOC 5 23 The MAW instruction is an output instruction Use the MAW instruction to arm watch position event checking for an axis The MAW instruction uses message and process type timing To use the MAW instruction configure the axis as either a servo axis ora position only axis Publication 1756 RM 007C EN P J uly 2001 5 2 M otion Event Instructions Operands MAW Operand Type Format Description AT ENS ANS AXIS tag axis structure Tope se ss lt Motion MOTION_ tag motion structure Pistin pcS control INSTRUCTION Trigger DINT immediate select the watch event trigger condition condition e forward The servo module looks for the actual position to change from less than the watch position to greater than the watch position reverse The servo module looks for the actual posi
143. ntroller constructs and transmits the message to the module This process may repeat several times if the instruction requires multiple messages If the controller Then oes not detect an error when the e controller sets the tifa instruction executes messaging to the module is completed Detects an error when the instruction The controller sets the ER bit and executes 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 M otion Concepts 1 5 8 When the rung becomes true the controller can execute the instruction again Scan Scan Execution Scan Scan rung true rung false complete rung false rung true 41385 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 e Motion Arm Watch Position MAW instruction e Motion Axis Move MAM instruction Process type instructions work as follows 1 When the rung that contains the motion instruction becomes true the controller 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 2 The controller initiates the motion process Publication 1756 RM 007C EN P J uly 2001 1 6 Motion Concepts Publication 1756
144. o a master axis position or to time To execute an MCCP instruction you must configure a Cam array tag using either the RSLogix5000 Cam Profile Editor or the Cam Profile Editor The Cam array elements consist of slave and master point pairs and an interpolation type The x and y point values are unitless because there is no association with a specific axis position or time The interpolation type is specified for each point as either linear or cubic The MCCP instruction uses message type timing Operand Type Format Description Motion MOTION_ tag Structure used to access block status control INSTRUCTION parameters Cam CAM 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 UINT immedi Determines the number of cam elements in the ate or array used in the cam profile calculation tag StartSlope REAL immedi This is the boundary condition for the initial ate or slope of the profile It is valid only for a cubic tag first segment and is used to specify a slope through the first point End Slope REAL immedi This is the boundary condition for the ending ateor slope of the profile It is valid only for a cubic tag last segment and is used to specify a slope through the last point Cam Profile CAM_PROFILE array Tag name of the calculated cam profil
145. o false rung condition in is true examine EN bit EN bit is set EN bit remains set rung condition out remains set to true EN bit remains set yes DN bit remains clear gt ER bit is set instruction detects an error true rung condition out remains no Y rung condition out is set to true processing runs to completion in motion task EN bit remains set yes DN bit is set ERbit remains clear function complete affected rung condition out is not EN bit remains set DN bit remains clear ER bit remains clear rung condition out is not affected Arithmetic Status Flags Fault Conditions not affected Publication 1756 RM 007C EN P J uly 2001 2 26 M otion State Instructions MAFR Error Codes ERR Error Code Description 3 The instruction tried to execute while another instance of this instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the preceding instruction 8 The axis is not configured as a servo or position only axis type 11 The axis is not configured 12 M essaging to the servo module failed 18 The axis type is configured as unused 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a mis
146. oder channel B loss fault EncCHZLossFault 05 BOOL encoder channel Z loss fault EncN sFault 06 BOOL encoder noise fault DriveFault 07 BOOL drive fault Bit Number Data Type Description SyncConnFault 00 BOOL synchronous connection fault servo declared HardFault 01 BOOL servo hardware fault GroupFault DINT The fault bits for the group Bit Number Data Type Description GroupOverlapFault 00 BOOL group overlap fault CSTLossFault 01 BOOL The controller has lost synchronization with the CST master GroupTaskLoadingFault 02 BOOL The group coarse update period is too low user application tasks are not getting enough time to execute Publication 1756 RM 007C EN P J uly 2001 Structures A 27 MOTION_INSTRUCTION Each motion instruction has a MOTION_INSTRUCTION structure that Struc ture contains status information about the instruction Mnemonic Data Type Description FLAGS BOOL The instruction status bits are Bit Number Data Type Description ACCEL 00 BOOL The ACCEL bit indicates that the velocity has increased for the individual instruction that it is tied to e g jog move gearing DECEL 01 BOOL The DECEL bit indicates that the velocity has decreased for the individual instruction that it is tied to e g jog move gearing PC 26 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
147. on or an axis hookup diagnostic test operation in progress on the associated physical axis HomelnputStatus BOOL Setwhen the current state of the dedicated Home input is active Cleared when the Home input is inactive RegllnputStatus BOOL Set when the current state of the dedicated Registration 1 input is active Clear when the Registration 1 input is inactive Reg2InputStatus BOOL Set when the current state of the dedicated Registration 1 input is active Clear when the Registration 1 input is inactive PosOvertravellnputStatus BOOL Set when the current state of the dedicated Positive Overtravel input is active Clear when the Positive Overtravel input is inactive NegOvertravellnputStatus BOOL Set when the current state of the dedicated Negative Overtravel input is active Clear when the Negative Overtravel input is inactive EnablelnputStatus BOOL Set when the current state of the dedicated Enable Input is active Clear when the Enable Input is inactive AccelLimitStatus BOOL Setwhen the magnitude of the commanded acceleration to the velocity servo loop input is greater than the configured Velocity Limit VelocityLockStatus BOOL Set when the magnitude of the physical axis Velocity Feedback is within the configured Velocity Window of the current velocity command VelocityStandstillStatus BOOL Set when the magnitude of the physical axis Velocity Feedback is within the configured Velocity Standstill Window of zero speed VelocityThresholdStatus
148. one bit indicates when the instruction initiates an axis stop ER BOOL The error bit indicates when the instruction detects an error such as if the axis is not configured IP BOOL e The in process bit sets when a stop process is successfully initiated e It resets when one of the following events occurs e The MAS instruction completes e A servo fault terminates the MAS instruction PC BOOL The process complete bit sets after the stop operation completes 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 Execution Condition Action prescan The EN bit is cleared The DN bit is cleared The ER bit is cleared The IP bit is cleared The PC bit is cleared 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 EN bit is not affected The DN bit is not affected The ER bit is not affected The IP bit is not affected The PC bit is not affected The rung condition out is set to false Publication 1756 RM 007C EN P J uly 2001 3 4 Motion M ove Instructions Condition Action rung condition in is true EN bit 0 examine EN bit EN bit is set
149. only be used once Re use of the motion control tag in other instructions can cause unintended operation of the control variables Motion move instructions control all aspects of axis position The motion move instructions are If you want to Use this instruction See page Initiate a controlled stop of any MAS 3 2 motion process on an axis Home an axis MAH 3 6 Initiate a jog motion profile for an MAJ 3 10 axis Initiate a move profile for an axis MAM 3 15 Provide electronic gearing between MAG 3 20 any two axes Change the speed acceleration MCD 3 25 rate or deceleration rate of a move profile or a jog profile in progress Change the command or actual MRP 3 29 position of an axis Compute a cam profile M CCP 3 32 Initiate a position cam profile M APC 3 34 Initiate a time cam profile M ATC 3 42 Publication 1756 RM 007C EN P J uly 2001 3 2 Motion M ove Instructions Motion Axis Stop MAS The MAS instruction is an output instruction Use a MAS instruction to initiate a controlled stop of any motion process on an axis and to clear associated motion status flags It is also used for stopping a Master Offset Move If the axis is not moving when the MAS instruction executes the MAS instruction has no effect on motion The MAS instruction uses immediate and process type timing To use the MAS instruction configure the axis as a servo or virtual axis
150. ontrol MOTION_INSTRUCTION Structure MGSD Motion Group Shutdown Group Motion control group EE group _MGSD When the input conditions are true the controller forces all axes ingroup into a shutdown operating state Format Syntax neutral text ASCII text MGSD group motion_control MGSD group motion_control The MGSR instruction is an output instruction Use the MGSR instruction to transition a group of axes from the shutdown operating state to the axis ready operating state The MGS instruction uses message type timing To use the MGSR instruction the group must be configured Operand Type Format Description MOTION GROUP MOTION INSTRUCTION Group tag group structure M otion motion structure control tag Publication 1756 RM 007C EN P J uly 2001 4 10 Motion Group Instructions Mnemonic Data Type Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN BOOL The done bit indicates when the instruction resets the group of axes from the shutdown operating state ER BOOL The error bit indicates when the instruction detects an error such as if messaging to the servo module failed Publication 1756 RM 007C EN P J uly 2001 Execution Condition prescan Motion Group Instructions Action The EN bit is cleared Th
151. osition 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 position or greater than the Cam End position an Illegal Output Cam error is returned and the cam element is not considered Publication 1756 RM 007C EN P J uly 2001 Mnemonic Data Type Right REAL Structures A 31 Description 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 UnlatchType is Duration or Duration and Enable with the enable bit acti
152. osition or Actual position of the axis If Pending is selected as the Execution Schedule then Reference is ignored e Actual the current position of the axis as measured by its encoder or other feedback device e Command the desired or commanded position of the master axis Publication 1756 RM 007C EN P J uly 2001 Motion Event Instructions 5 17 Output Cam Elements The Output Cam elements are defined in an array of OUTPUT_CAM data types The cam elements can be placed anywhere within the array and the number of elements used is only bound by the available memory Each array element define the latch and unlatch criteria fora cam and links the cam with an output bit The following two diagram show how different latch and unlatch types effect output bits for the various compensated cam and enable bit combinations Figure 5 1 Effect of Different Latch Types on the Output Bit Compensated Cam Potion Position Enable Bia Position Position Output Bi nacik e i Position l H Position SS l Se l DANG M pe aS ee Poalon Position i Pine iin ts Enable 8 27TTTSTs Position em Position Position a Enable Postion tt Position Oulput ba ritially set Quipul bit walially rot sei Publication 1756 RM 007C EN P J uly 2001 5 18 M otion Event Instructions Compensaied Cam Figure 5 2 Effect of Different Unlatch Types on the Output Bit Position r Position Enable Al
153. otes to make you aware of safety considerations ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attention statements help you to e identify a hazard e avoid a hazard e recognize the consequences IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley is a trademark of Rockwell Automation Summary of Changes Introduction This release of this document contains new and updated information Updated Information This manual has been updated throughout The most significant changes are e The Changes to Status Bits tables have been added to the MAPC and MATC instructions e The Motion Group Programmed Stop MGPS instruction has been deleted e The Motion Group Stop MGS instruction has been modified Its Inhibit operand has been replaced with Stop Mode See the Motion Group Instructions chapter for changes e Some error codes have been renumbered and new error codes have been added See Appendix A e The Axis Structure section of Appendix A has been expanded to show the structure for Axis Consumed Axis Servo Axis Servo Drive and Axis Virtual Publication 1756 RM 007C EN P J uly 2001 Summary of Changes 2 Publication 1756 RM 007C EN P J uly 2001 Preface Chapter 1 Chapter 2 Table of Contents Using This Manual Introduction a ress hae
154. otion operation PositionCamPendingStatus BOOL Set if a Position Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an M APC instruction with Pending execution selected This bit is cleared when the current position cam profile completes initiating the start of the pending cam profile This bit is also cleared if the position cam profile completes or is superseded by some other motion operation TimeCamPendingStatus BOOL Set if a Time Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an MATC instruction with Pending execution selected This bit is cleared when the current time cam profile completes initiating the start of the pending cam profile This bit is also cleared if the time cam profile completes or is superseded by some other motion operation GearingLockStatus BOOL Set whenever the slave axis is locked to the master axis ina gearing relationship according to the specified gear ratio The clutch function of the gearing planner is used to ramp an axis up or down to speed in a gearing process MAG with Clutch selected This bit is cleared during the intervals where the axis is clutching PositionCamLockStatus BOOL Set whenever the master axis satisfies the starting condition of a currently active Position Cam motion profile The starting condit
155. p is not in the synchronized state This could be caused by a missing servo module or a misconfiguration This LED FDBK Will change to Flashing green Meaning Servo action is disabled DRIVE Flashing green The drive enable output is inactive State DriveEnableStatus False BitName Meaning e The axis is in the axis ready State e The drive enable output is inactive ADF Motion Direct Drive Off Axis Motion control axis jt axis1_MDF When the input conditions are true the controller deactivates the servo drive for axisJ and sets the servo output voltage ofxis_ to the output offset value Format Syntax neutral text MDF axis motion_control ASCII text MDF axis motion_control Publication 1756 RM 007C EN P J uly 2001 2 24 M otion State Instructions Motion MAFR Axis Motion control MAFR Motion Axis Fault Reset Axis Fault Reset Operands MOTION_INSTRUCTION The MAFR instruction is an output instruction Use the MAFR instruction to clear all motion faults for an axis This is the only method for clearing axis motion faults The MAFR instruction removes the fault status but IMPORTANT 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 may still exist If the condition is not corrected before using the MAFR
156. plicit M AFR Motion Axis Fault Reset or M ASR Motion Axis Shutdown Reset instruction to clear NegHardOvertravel Fault BOOL Set when the axis has traveled beyond the current negative direction position limits as established by hardware limit switches mounted on the machine To recover the axis must be moved back with normal operation limits of the machine and the limit switch reset This fault condition is latched and requires execution of an explicit M AFR Motion Axis Fault Reset or M ASR Motion Axis Shutdown Reset instruction to clear FeedbackFault BOOL Set for a specific feedback source when one of the following conditions occurs e The differential electrical signals for one or more of the feedback channels e g At and A B andB or Z and Z are at the same level both high or both low Under normal operation the differential signals are always at opposite levels The most common cause of this situation is a broken wire between the feedback transducer and the servo module or drive e Loss of feedback power or feedback common electrical connection between the servo module or drive and the feedback device This fault condition is latched and requires execution of an explicit M AFR Motion Axis Fault Reset or M ASR Motion Axis Shutdown Reset instruction to clear FeedbackNoiseFault BOOL Set for a specific feedback source when the servo module has detected simultaneous transitions of
157. profile is currently in progress Cleared when the J og is complete or is Superseded by some other motion operation GearingStatus BOOL Setif the axis is a slave that is currently Gearing to another axis Cleared when the gearing operation is stopped or is superseded by some other motion operation HomingStatus BOOL Set if a Home motion profile is currently in progress Cleared when the homing operation is stopped or is superseded by some other motion operation StoppingStatus BOOL Setif there is a stopping process currently in progress Cleared when the stopping process is complete Note The stopping process is used to stop an axis initiated by an MAS MGS Stop M otion fault action or mode change AxisHomedStatus BOOL Cleared at power up or reconnection Set by the M AH instruction upon successful completion of the configured homing sequence and later cleared when the axis enters the shutdown state PositionCamStatus BOOL Setif a Position Cam motion profile is currently in progress Cleared when the Position Cam is complete or is superseded by some other motion operation TimeCamStatus BOOL Setif a Time Cam motion profile is currently in progress Cleared when the Time Cam is complete or is superseded by some other motion operation PositionCamPendingStatus BOOL Setif a Position Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an M APC instruction with Pending e
158. progress TimeCamStatus False Tcam motion profile is not in progress PositionCamPendingStatu False The pending PCAM profile is S cancelled TimeCamPendingStatus False The pendingTcam profile is cancelled 1 Ifyou selected the clutch option the MAG instruction will change this status bit if the master current speed does not equal the slave current speed Publication 1756 RM 007C EN P J uly 2001 Format neutral text M otion M ove Instructions 3 25 MAG Example Motion Axis Gear N Slave Axis axis2 mE Master Axis axis mE N gt Motion control axis MAG Direction backward i 0 Ratio ratio IP gt 0 Slave counts value_1 Master counts value_2 Master reference Actual Ratio Format Fraction_slave_master_counts Clutch Enabled Accel rate accel_rate Accel units of Maximum When the input conditions are true the controller provides electronic gearing between axis2 and axis1 Other Formats Syntax MAG slave_axis master_axis motion_control direction ratio slave_counts master_counts master_reference ratio_format clutch accel_rate units j ASCII text MAG slave_axis master_axis motion_control direction ratio slave_counts master_counts master_reference ratio_format clutch accel_rate units Motion Cha nge Dynamics The MCD instruction is an output instruction Use the MCD instruction MCD to change the speed acceleration rate or deceleration rate of a move profile or a jog profile in progres
159. ption GSP Motion Group Strobe Position Group Motion control pai Group MOTION tag group structure T GROUP Motion MOTION tag motion structure control INSTRUCTIO N MOTION_INSTRUCTION Structure Mnemonic Data Type Description EN BOOL The enable bit indicates when the instruction is enabled DN BOOL The done bit indicates when the instruction latches the current Command and Actual positions of all the axes in a group ER BOOL The error bit indicates when the instruction detects an error such as if the group is not synchronized Execution Condition Action prescan The EN bit is cleared The DN bit is cleared The ER bit is cleared The rung condition out is set to false rung condition in is false The EN bitis cleared if either the DN or ER bit is set Otherwise the EN bit is not affected The DN bit is not affected The ER bit is not affected The rung condition out is set to false Publication 1756 RM 007C EN P J uly 2001 4 14 Motion Group Instructions Condition Action rung condition in is true EN bit 0 examine EN bit EN bit is set EN bit 1 EN bit remains set yes DN bit remains clear gt ER bit is set rung condition out remains true EN bit remains set rung condition out remains _ gt set to true instruction detects an error
160. r The axis is in the shutdown state 8 Illegal Axis Type The configured axis type is not correct 9 Overtravel Condition The instruction tried to execute in a direction that aggravates the current overtravel condition 10 M aster Axis Conflict The master axis reference is the same as the slave axis reference 11 Axis Not Configured The axis is not configured 12 Servo Message Failure M essaging to the servo module failed 13 Parameter Out Of Range The instruction tried to use a parameter that is outside the range limit 14 Tune Process Error The instruction cannot apply the tuning parameters because of an error in the run tuning instruction 15 Test Process Error The instruction cannot apply the diagnostic parameters because of an error in the run diagnostic test instruction 16 Home In Process Error The instruction tried to execute with homing in progress 17 Axis M ode Not Rotary The instruction tried to execute a rotary move on an axis that is not configured for rotary operation 18 Axis Type Unused The axis type is configured as unused 19 Group Not Synchronized The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration 20 Axis In Faulted State The axis is in the faulted state 21 Group In Faulted State The group is in the faulted state Publication 1756 RM 007C EN P J uly 2001 1 10 Motion Concepts Error Code Error Message Description 22 Axis In M otio
161. red when the M ove is complete or is superseded by some other motion operation J ogStatus BOOL Set if a og motion profile is currently in progress Cleared when the J og is complete or is superseded by some other motion operation GearingStatus BOOL Setif the axis is a slave that is currently Gearing to another axis Cleared when the gearing operation is stopped or is superseded by some other motion operation HomingStatus BOOL Set if a Home motion profile is currently in progress Cleared when the homing operation is stopped or is superseded by some other motion operation StoppingStatus BOOL Setif there is a stopping process currently in progress Cleared when the stopping process is complete Note The stopping process is used to stop an axis initiated by an MAS MGS Stop Motion fault action or mode change AxisHomedStatus BOOL Cleared at power up or reconnection Set by the M AH instruction upon successful completion of the configured homing sequence and later cleared when the axis enters the shutdown state PositionCamStatus BOOL Setif a Position Cam motion profile is currently in progress Cleared when the Position Cam is complete or is superseded by some other motion operation Publication 1756 RM 007C EN P J uly 2001 Mnemonic TimeCamStatus Data Type BOOL Structures A 9 Description Set if a Time Cam motion profile is currently in progress Cleared when the Time Cam is complete or is superseded by some other m
162. remains set ER bit remains clear affected N bit remains clear ng condition out is not yes gt ER bit is set yes ER bit remains clear EN bit remains set DN bit remains clear rung condition out remains true processing runs to completion in motion task EN bit remains set DN bit is set rung condition out is not affected Arithmetic Status Flags Fault Conditions not affected Publication 1756 RM 007C EN P J uly 2001 2 16 M otion State Instructions M ASR Error Codes ERR MASR Changes to Servo Module LEDs M ASR Changes to Axis Status Bits MASR Example Other Formats Publication 1756 RM 007C EN P J uly 2001 Error Code Description 3 The instruction tried to execute while another instance of this instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the preceding instruction 8 The axis is not configured as a servo position only or virtual axis 11 The axis is not configured 12 M essaging to the servo module failed 18 The axis type is configured as unused 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration This LED Will change to Meaning FDBK Flashing green Servo action is inactive DRIVE Flashing green e The drive enable output is in
163. ried to execute with homing in process 17 Axis Mode Not Rotary The instruction tried to execute a rotary move on an axis that is not configured for rotary operation 19 Group Not Synchronized The motion group Is not in the synchronized state This could be caused by a missing servo module or a misconfiguration 23 Illegal Dynamic Change An instruction attempted an illegal change of dynamics 24 Illegal AC M ode Op The controller attempted to execute an MDO MSO MAH MA MAM MCD MAPC MATC MAG M RAT or M RHD instruction when the controller was in the test mode 33 Position Cam Not Enabled A Master Offset M ove attempted to execute without a position cam in process MAM Changes to Axis Status Bits Bit Name State Meaning J ogStatus False The axis is not jogging M oveStatus2 True The axis is moving GearingStatus False The axis is not gearing AccelStatus True The axis is accelerating during the move DecelStatus True The axis is decelerating during the move PositionCamStatus False Pcam motion profile is not in progress TimeCamStatus False Tcam motion profile is not in progress PositionCamPendingStatus False The pending PCAM profile is cancelled TimeCamPendingStatus False The pending Tcam profile is cancelled MasterOffsetM oveStatus True The axis is offset 1 If you selected the merge option the MAM instruction will change this status bit 2 If you select a
164. ruction The TestStatus attribute should show the successful completion of an 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 The MAHD instruction uses message type timing To use the MAHD instruction e Configure the axis as either a servo axis or a position only axis e Make sure the axis operating state is axis ready e Make sure servo action is off Operands MAHD Operand Type Format Description Motion Apply Hookup Diagnostics Axis eDNS Axis AXIS tag axis structure a contrat ER3 gt Motion MOTION tag motion structure iagnostic Test 2 Observed Drech n control INSTRUCTION Diagnostic DINT immediate select the test to apply test e motor encoder hookup test e encoder hookup test e encoder marker test Observed DINT immediate select the direction of motion direction during the diagnostic tests e forward e reverse MOTION_INSTRUCTION Structure Mnemonic Data Type Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN BOOL The done bit indicates when the instruction applies the results of a test process ER BOOL The error bit indicates when the instruction detects an error such as if the axis is not configured Publication 1756 RM 007C E
165. rvo module failed 18 Axis Type Unused The axis type is configured as unused 19 Group Not Synchronized The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration 20 Axis In Faulted State The axis is in the faulted state 21 Group In Faulted State The group is in the faulted state 22 Axis In Motion An MSO Motion Servo On or MAH Motion Axis Home instruction was attempted while the axis was in motion 24 Illegal AC Mode Op The controller attempted to execute an MDO MSO MAH MA MAM MCD MAPC MATC MAG M RAT or M RHD instruction when the controller was in the test mode 34 Registration in Progress A MAH instruction is trying to start while a registration is already running M AH Changes to Axis Status Bits MAH Example BitName State Meaning StoppingStatus False The axis is not stopping J ogStatus False True The axis is not jogging M oveStatus False True The axis is not moving AccelStatus True The axis is accelerating DecelStatus True The axis is decelerating HomingStatus True The axis is homing 1 Ifyou select active homing this status bit will be true Axis Motion control MAH Motion Axis Home axis jt axis1_MAH When the input conditions are true the controller homes axis Publication 1756 RM 007C EN P J uly 2001 3 10 M otion M ove Instructions Other Formats Motion Axis J og MAJ
166. s The MCD instruction uses immediate type timing To use the MCD instruction e Configure the axis as a servo or virtual axis e Ensure the axis operating state is servo on if axis type is servo If the axis does not have a move ora jog in progress when the MCD instruction executes the instruction will error Publication 1756 RM 007C EN P J uly 2001 3 26 Motion M ove Instructions Operands Operand Type Format Description MCD R Axis AXIS tag axis structure Motion Change Dynamics ENS Axis a Motion MOTION _ tag motion structure Motion control DN gt control INSTRUCTION Motion Type 2 Change Speed ER3 Motiontype DINT immediate select the motion profile to change Speed e Jog Change Accel e move Pome al Change DINT immediate select whether or not to change Change Decel speed speed Decel rate eno 2 e yes Speed units Accel units Speed SINT INT DINT or immediate or the new speed of the axis Decel units REAL tag Change accel DINT immediate select whether to change acceleration e no e yes Accel rate SINT INT DINT or immediate or acceleration rate of the axis REAL tag Change decel DINT immediate select whether to change deceleration e no e yes Decel rate SINT INT DINT or immediateor deceleration rate of the axis REAL tag Speed units DINT immediate select the speed units e of maximum speed e units per sec Accel units DINT immediate sele
167. s Type Unused The axis type is configured as unused 19 Group Not Synchronized The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration MRP Example MR Motion Redefine Position Axis axis jt Motion control axis1_MAP Type Absolute Position Select Actual Position position When the input conditions are true the controller changes the position of Other Formats Format Syntax neutral text MRP axis motion_control type position_select position ASCII text MRP axis motion_control type position_select position Publication 1756 RM 007C EN P J uly 2001 3 32 M otion M ove Instructions Motion Calculate Cam Profile MCCP Operands MCC Motion Calculate Cam Profile Motion Control Cam Length I Start Slope J End Slope J Carn Profile Publication 1756 RM 007C EN P J uly 2001 The MCCP instruction calculates a cam profile based on an array of cam points established programmatically or using the RSLogix5000 Cam Profile Editor The primary purpose of an MCCP instruction is to let you calculate a cam profile in real time based on programmatic changes to the cam arrays The MCCP instruction computes a cam profile based on a given set of points in a specified cam array The cam profiles generated by this instruction are used by either MAPC or MATC camming instructions to perform complex motion of a slave axis in relation t
168. set value e The servo module OK relay contacts are open The MGSD instruction uses message type timing To use the MGSD instruction the group must be configured Operands Operand Type Format Description cEND Group MOTION_ tag group structure DN3H ERS GROUP Motion Group Shutdown Group Motion control M otion MOTION _ tag motion structure control INSTRUCTION MOTION_INSTRUCTION Structure Mnemonic Data Type Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN BOOL The done bit indicates when the instruction sets the group of axes to the shutdown operating state ER BOOL The error bit indicates when the instruction detects an error such as if messaging to the servo module failed Publication 1756 RM 007C EN P J uly 2001 Condition prescan Motion Group Instructions 4 7 Action The EN bit is cleared The DN bit is cleared The ER bit is cleared 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 EN bit is not affected The DN bit is not affected The ER bit is not affected The rung condition out is set to false rung condition in is true examine EN bit EN bit 1 EN bit remains set rung condition out remains set to
169. struction The TuneStatus attribute should show the successful completion of an MRAT instruction This instruction also updates the servo module with the new gain parameters The MAAT instruction uses message type timing To use the MAAT instruction e Configure the axis as a servo axis e Ensure the axis operating state is axis ready e Ensure servo action is off e Use a Motion Run Axis Tuning MRAT instruction before the MAAT instruction Operand Type Format Description Axis AXIS tag axis structure Motion M OTION_ tag motion structure control INSTRUCTION Structure Mnemonic Data Type Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN BOOL The done bit indicates when the instruction completes an apply axis tuning process ER BOOL The error bit indicates w hen the instruction detects an error such as if the axis is not configured Publication 1756 RM 007C EN P J uly 2001 Execution Condition prescan Action Motion Configuration Instructions 6 3 The EN bit is cleared The DN bit is cleared The ER bit is cleared 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 EN bit is not affected The DN bit is not affected The ER bit is not affected The rung condition out
170. such as if the axis is not configured IP BOOL e The in process bit sets when the homing process is successfully initiated e t resets when one of the following events occurs e The MAH instruction completes e Homing is aborted e A servo fault occurs PC BOOL The process complete bit sets when the instruction completes an axis home operation 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 Execution Condition Action pecan menean aN The DN bit is cleared The ER bit is cleared The IP bit is cleared The PC bit is cleared The rung condition out is set to false rung condition in is false The EN bitis cleared if either the DN or ER bit is set Otherwise the EN bit is not affected The DN bit is not affected The ER bit is not affected The IP bit is not affected The PC bit is not affected The rung condition out is set to false Publication 1756 RM 007C EN P J uly 2001 3 8 Motion M ove Instructions Condition Action mg conaran m 1s tru 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
171. supported for this axis 36 Illegal Output Cam The value of at least one member is out of range 1 Output bit is less than 0 or greater than 31 2 Latch type is less than 0 or greater than 3 3 Unlatch type is less than 0 or greater than 5 4 Duration is less than or equal to 0 and the unlatch type is set to Duration or Duration and Enable 5 Enable type is less than 0 or greater than 3 and the latch or unlatch type is set to Enable Position and Enable or Duration and Enable 6 Enable bit is less than 0 or greater than 31 and the latch or unlatch type is set to Enable Position and Enable or Duration and Enable 7 Latch type is set to Inactive and unlatch type is set to either Duration or Duration and Enable 37 Illegal Output Compensation The value of at least one member is out of range 1 Mode is less than 0 or greater than 3 2 Cycle time is less than or equal to 0 and the mode is set to Pulsed or Inverted and Pulsed 3 Duty cycle is less than 0 or greater than 100 and the mode is set to Pulsed or Inverted and Pulsed Publication 1756 RM 007C EN P J uly 2001 M otion Event Instructions 5 21 MAOC Effects On Axis Status Status bits may be used to determine if an MAOC instruction can be Bits initiated The MAOC instruction affects the following status words in the Motion Axis Structure e OutputCamStatus e OutputCamPendingStatus e OutputCamLockStatus e OutputCamTransitionStatus If the Execu
172. t Co affected process aborted Publication 1756 RM 007C EN P J uly 2001 3 24 M otion M ove Instructions Arithmetic Status Flags not affected Fault Conditions none MAG Error Codes ERR Error Code Error Message Description 5 Servo Of State Error me instruction tried to execute on an axis whose servo loop is not closed 7 Shutdown State Error The axis is in the shutdown state 8 Illegal Axis Type The axis is not configured as a servo or virtual axis 10 Master Axis Conflict The master axis reference is the same as the slave axis reference 11 Axis Not Configured The axis is not configured 13 Parameter Out Of Range The instruction tried to use a parameter that is outside the range limit 19 Group Not Synchronized The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration 24 Illegal AC Mode Op The controller attempted to execute an MDO MSO MAH MAJ MAM MCD MAPC MATC M AG M RAT or MRHD instruction when the controller was in the test mode MAG Changes to Axis Status Bits Bit Name State Meaning StoppingStatus True The axis is stopping GearingStatus True The axis is gearing AccelStatus True The axis is accelerating when reaching the new speed DecelStatus True The axis is decelerating to reach the new speed PositionCamStatus False Pcam motion profile is not in
173. t checking for an axis The MDR instruction uses message timing To use the MDR instruction configure the axis as either a servo axis or a position only axis Operands ADR Operand Type Format Description noe Disarm ii aac z a Aus AXIS fag NOSTE Motion control CER 3 M otion MOTION tag motion structure control INSTRUCTION MOTION_INSTRUCTION Structure Mnemonic Data Type Description The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false The done bit indicates when the instruction disarms registration event checking EN BOOL DN BOOL ER BOOL The error bit indicates when the instruction detects an error such as if the axis is not configured When you use this instruction the controller resets the registration event status bit and the registration armed status bit Execution Condition prescan Action The EN bit is cleared The DN bit is cleared The ER bit is cleared 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 EN bit is not affected The DN bit is not affected The ER bit is not affected The rung condition out is set to false Publication 1756 RM 007C EN P J uly 2001 5 12 M otion Event Instructions Condition rung condition in is true EN
174. t Cam which is defined by an array of OUTPUT CAM data types These profiles can be set up manually programmatically or by using the RSLogix5000 Output Cam Editor The size of the data array is limited only by the available memory of the Logix controller The operands listed below determine MAOC instruction s behavior Operand Type Format Description Axis AXIS tag The axis provides the position input to the Output Cam Execution SINT INT or DINT immediate The execution target defines the specific Target ortag Output Cam from the set connected to the named axis Behavior is determined by the following e 0 8 Output Cams executed in the Logix controller e 9 31 Reserved for future use Motion Control MOTION tag Structure used to access block status INSTRUCTION parameters Output DINT tag A set of 32 output bits that are set or reset based on the specified Output Cam It can be either a memory location ora physical output 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 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 speci
175. t is not Ca affected process aborted Publication 1756 RM 007C EN P J uly 2001 3 14 M otion M ove Instructions Arithmetic Status Flags not affected Fault Conditions none MA Error Codes ERR Error Code Error Message Description 5 Servo Of State Error The instruction tried to execute on an axis whose servo loop is not closed 7 Shutdown State Error The axis is in the shutdown state 8 Illegal Axis Type The axis is not configured as a servo or virtual axis 9 Overtravel Condition The instruction tried to execute in a direction that aggravates the current overtravel condition 11 Axis Not Configured The axis is not configured 13 Parameter Out Of Range The instruction tried to execute with a parameter that is outside the range limit 16 Home In Process Error The instruction tried to execute with homing in process 19 Group Not Synchronized The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration 23 Illegal Dynamic Change An instruction attempted an illegal change of dynamics 24 Illegal AC Mode Op The controller attempted to execute an MDO MSO MAH MAJ MAM MCD MAPC MATC MAG M RAT or M RHD instruction when the controller was in the test mode MAJ Changes to Axis Status Bits Bit Name State Meaning J ogStatus True The axis is jogging AccelStatus True The axis
176. t position cam profile completes or is superseded by some other motion operation In uni directional master direction mode the Position Cam Lock Status bit is cleared when moving in the wrong direction and sets when moving in the correct direction M asterOffsetM oveStatus BOOL Set if a Master Offset M ove motion profile is currently in progress This bit is cleared when the Master Offset M ove is complete or is superseded by some other motion operation ServoActStatus BOOL Set when the associated axis is under servo control Cleared when servo action is disabled DriveEnableStatus BOOL Set when the Drive Enable output of the associated physical axis is currently enabled Cleared when physical servo axis Drive Enable output is currently disabled Shutdow nStatus BOOL Set when the associated axis is currently in the Shutdown state Cleared when the axis is transitioned from the Shutdown state to another state ConfigUpdatelnProcess BOOL The Configuration Update Status Bits attribute provides a method for monitoring the progress of one or more specific module configuration attribute updates initiated by either a Set Attribute List service which is internal to the firmware or an SSV in the user program When such an update is initiated the ControlLogix processor sets this bit This bit will remain set until the Set Attribute List reply comes back from the servo module indicating that the data
177. t the velocity has decreased for the individual instruction that it is tied to i e jog move gearing Publication 1756 RM 007C EN P J uly 2001 Execution Condition prescan M otion M ove Instructions 3 23 Action The EN bit is cleared The DN bit is cleared The ER bit is cleared The IP bit is cleared 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 set Otherwise the EN bit is not affected The DN bit is not affected The ER bit is not affected The IP bit is not affected The rung condition out is set to false rung condition in is true examine EN bit EN bit remains set to true rung condition out remains set EN bit is set EN bit remains set DN bit remains clear ER bit is set IP bit remains clear rung condition out is set to true instruction detects an error EN bit remains set DN bitis set ER bit remains clear IP bitis set Y 2a rung condition out is set to true processing runs to completion EN bit remains set in motion task 3 DN bit remains set ER bit remains clear IP bitis cleared rung condition out is not affected process complete EN bit remains set DN bit remains set ER bit remains clear IP bit is cleared rung condition out is no
178. t when the rung transitions from false to true and stays set until the rung goes false DN BOOL The done bit is set when the axis time cam instruction is successfully initiated ER BOOL The error bit indicates when the instruction detects an error such as if the axis is not configured IP BOOL The in process bit is set on positive rung transition and cleared when terminated by a stop command merge shutdown or servo fault PC BOOL The Process Complete bit is cleared on positive rung transition and set in Once Execution M ode when the time leaves the time range defined by the currently active cam profile 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 Arithmetic Status Flags not affected Fault Conditions none MATC Error Codes ERR Error Code Error Message Description 5 Servo Off State Error The servo loop was not closed at execution 7 Shutdown State Error The axis was in a shutdown state when you tried to execute 8 Illegal Axis Type Your axis is not configured for servo or virtual functionality 11 Axis Not Configured Your axis value references an unconfigured axis 13 Parameter Out of Range An input parameter is out of range 16 Home In Pro
179. tCamStatus DINT A set of bits that are set when the Output Cam has been initiated OutputCamPendingStatus DINT A set of bits that are set when an Output Cam is waiting for an armed Output Cam to move beyond its cam start cam end position OutputCamLockStatus DINT A set of bits that are set when an Output Cam is locked to the M aster Axis OutputCamTransitionStatus DINT A set of bits that are set when the transition from the current armed Output Cam to the pending Output Cam is in process The bit number corresponds with the execution target number One bit per execution target Publication 1756 RM 007C EN P J uly 2001 AXIS_SERVO_DRIVE Structure A servo drive axis object represents an axis with full motion planner functionality and integrated configuration support It is associated with digital drive interface modules sending digital commands to an external drive such as a 1756 M08SE SERCOS The Structures A 13 AXIS SERVO_DRIVE structure contains the following status and configuration attributes Mnemonic Data Description Type M otionStatus DINT The motion status bits for your axis Bit Number Data Type Description AccelStatus 00 BOOL Acceleration Status DecelStatus 01 BOOL Deceleration Status M oveStatus 02 BOOL M ove Status J ogStatus 03 BOOL J og Status GearingStatus 04 BOOL Gearing Status HomingStatus 05 BOOL Homing Status StoppingStatus 06 BOOL
180. tes initiated by either a Set Attribute List service which is internal to the firmware or an SSV in the user program When such an update is initiated the ControlLogix processor sets this bit This bit will remain set until the Set Attribute List reply comes back from the servo module indicating that the data update process was successful Thus the Configuration Update Status Bits attribute provides a method of waiting until the servo configuration data update to the connected motion module is complete before starting a dependent operation PhysicalAxisFault BOOL Set when one or more fault conditions have been reported by the physical axis The specific fault conditions can then be determined through access to the fault attributes of the associated physical axis A PhysicalAxisFault can be set as either a M ajor Fault or a Non Major Fault in the Attribute tab of the associated M otion Group properties dialog box M oduleFault BOOL Set when a serious fault has occurred with the motion module associated with the selected axis Usually a module fault affects all axes associated with the motion module A module fault generally results in the shutdown of all associated axes Reconfiguration of the motion module is required to recover from a module fault condition A M oduleFault can be set as either a M ajor Fault or a Non Major Fault in the Attribute tab of the associated M otion Group properties dialog box Publication 1756 RM 007C E
181. tes that the velocity has decreased for the individual instruction that it is tied to i e jog move gearing Publication 1756 RM 007C EN P J uly 2001 Execution Condition prescan M otion M ove Instructions 3 13 Action The EN bit is cleared The DN bit is cleared The ER bit is cleared The IP bit is cleared 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 set Otherwise the EN bit is not affected The DN bit is not affected The ER bit is not affected The IP bit is not affected The rung condition out is set to false rung condition in is true examine EN bit EN bit remains set rung condition out remains set to true EN bit is set EN bit remains set DN bit remains clear ER bit is set IP bit remains clear rung condition out is set to true instruction detects an error EN bit remains set DN bit is set ER bit remains clear IP bitis set Y lt gt rung condition out remains true processing runs to completion in motion task EN bit remains set DN bit remains set ER bit remains clear IP bitis cleared rung condition outis not affected process stopped EN bit remains set DN bit remains set ER bit remains clear IP bit remains set rung condition ou
182. the start of the pending cam profile This bit is also cleared if the time cam profile completes or is superseded by some other motion operation GearingLockStatus BOOL Set whenever the slave axis is locked to the master axis in a gearing relationship according to the specified gear ratio The clutch function of the gearing planner is used to ramp an axis up or down to speed in a gearing process MAG with Clutch selected This bit is cleared during the intervals where the axis is clutching PositionCamLockStatus BOOL Set whenever the master axis satisfies the starting condition of a currently active Position Cam motion profile The starting condition is established by the Start Control and Start Position parameters of the M APC instruction This bit is bit is cleared when the current position cam profile completes or is superseded by some other motion operation In uni directional master direction mode the Position Cam Lock Status bit is cleared when moving in the wrong direction and sets when moving in the correct direction M asterOffsetM oveStatus BOOL Set if a Master Offset M ove motion profile is currently in progress This bit is cleared when the Master Offset M ove is complete or is superseded by some other motion operation ServoActStatus BOOL Set when the associated axis is under servo control Cleared when servo action is disabled DriveEnableStatus BOOL Set when the Drive Enabl
183. ther a registration event occurs ora M DR M otion Disarm Registration instruction is executed for registration input 1 RegEvStatus BOOL Set when a registration event has occurred on registration input 1 Cleared when either another M AR M otion Arm Registration instruction or a M DR M otion Disarm Registration instruction is executed for registration input 1 RegEv2ArmStatus BOOL Set when a registration checking has been armed for registration input 2 through execution of the MAR M otion Arm Registration instruction Cleared when either a registration event occurs ora M DR M otion Disarm Registration instruction is executed for registration input 2 RegEv2Status BOOL Set when a registration event has occurred on registration input 2 Cleared when either another M AR M otion Arm Registration instruction or a M DR M otion Disarm Registration instruction is executed for registration input 2 HomeEvArmStatus BOOL Set when a home event has been armed through execution of the MAH Motion Axis Home instruction Cleared when a home event occurs HomeEvStatus BOOL Set when a home event has occurred Cleared when another M AH M otion Axis Home instruction is executed OutputCamStatus DINT A set of bits that are set when the Output Cam has been initiated OutputCamPendingStatus DINT A set of bits that are set when an Output Cam is waiting for an armed Output Cam to move beyo
184. tion Schedule is set to Forward Only Reverse Only or Bi Directional an MAOC instruction can be initiated when either of the following two conditions exist 1 OutputCamStatus bit FALSE or 2 OutputCamStatus bit TRUE OutputCamLockStatus bit FALSE OutputCamTransitionStatus bit FALSE If the Execution Schedule is Pending the MAOC instruction is initiated if either of the following two conditions exist 1 OutputCamStatus bit FALSE or 2 OutputCamStatus bit TRUE OutputCamTransitionStatus bit FALSE Publication 1756 RM 007C EN P J uly 2001 5 22 M otion Event Instructions MAOC Example Motion Arm Output Cam Axis Axist Execution Target ExecutionTarget Motion Control MotionContro Output ut Input Output Cam OutputCamt 0 Cam Start Position CamStartPosit Cam End Position CamEndPositi Output Compensation OutputCompt 0 Execution Mode Continuous Execution Schedule Immediate Axis Arm Position AxisArmPosition Cam Arm Position CamArmPosition Reference Actual lt lt Less Other Formats Format Syntax neutral text MAOC 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 reference ASCII text MAOC axis execution_target motion_control output input output_cam cam_start position cam_end_position output_compensation
185. tion about every motion instruction The descriptions use the following format Publication 1756 RM 007C EN P J uly 2001 P 2 Using This M anual Conventions and Related Terms This section Instruction name Provides this type of information identifies the instruction defines whether the instruction is an input or an output instruction Description describes the instruction s use defines any differences when the instruction is enabled and disabled if appropriate Operands lists all the operands of the instruction Control structure lists control status bits and values if any of th einstruction Execution defines the specifics of how the instruction operates during e prescan e rung condition in is false e rung condition in is true Arithmetic status flags defines whether or not the instruction affects arithmetic status flags see appendix A 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 Setand clear This manual uses set and clear to define the status of bits booleans and values non booleans This term set Means the bit is set to 1 ON a value is set to
186. tion to change from greater than the watch position to less than the watch position Position SINT INT immediate or new value for the watch position DINT or REAL tag MOTION_INSTRUCTION Structure Mnemonic Data Type Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN BOOL The done bit indicates when the instruction arms watch event checking ER BOOL The error bit indicates when the instruction detects an error such as if the axis is not configured IP BOOL e The in process bit sets when the M AW instruction is successfully initiated e t resets when one of the following events occurs e Awatch event occurs Another MAW instruction supersedes the current instruction e AMotion Disarm Watch MDW instruction terminates the MAW instruction PC BOOL The process complete bit is set when a watch event occurs Publication 1756 RM 007C EN P J uly 2001 M otion Event Instructions 5 3 Condition Execution Action prescan The EN bit is cleared The DN bit is cleared The ER bit is cleared The IP bit is cleared The PC bit is cleared 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 EN bit is not affected The DN bit is not affected The ER bit is not aff
187. to true and stays set until the rung goes false DN BOOL The done bit is set when the axis position cam instruction is successfully initiated ER BOOL The error bit indicates when the instruction detects an error such as if the axis is not configured IP BOOL The in process bit is set on positive rung transition and cleared when terminated by a stop command merge shutdown servo fault or when the cam has completed PC BOOL The Process Complete bit is cleared on positive rung transition and set in once Execution M ode when the position of the master axis leaves the master position range defined by the currently active cam profile 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 Arithmetic Status Flags not affected Fault Conditions none M APC Error Codes ERR Error Code Error Message Description 5 Servo Off State Error The servo loop wasn t closed at execution 7 Shutdown State Error The axis was in a shutdown state when you tried to execute it 8 Illegal Axis Type Your axis is not configured for servo or virtual functionality 10 Master Axis Conflict The master axis reference is the same as the slave axis reference 11 Axis Not Configured Yo
188. tributes are accessible only from the configuration tabs for that structure There are four axis related data types that each have their own structure The four types are Axis Consumed Axis Servo Axis Servo Drive and Axis Virtual The following sections describe the structures for each of these axis data types AXIS_CONSUMED Structure A Consumed Axis is a conduit for axis motion data produced by a motion axis on another Logix processor The Axis Consumed structure has the following status attributes Publication 1756 RM 007C EN P J uly 2001 A 2 Structures Mnemonic Data Description Type M otionStatus DINT The motion status bits for your axis Bit Number Data Type Description AccelStatus 00 BOOL Acceleration Status DecelStatus 01 BOOL Deceleration Status M oveStatus 02 BOOL M ove Status J ogStatus 03 BOOL J og Status GearingStatus 04 BOOL Gearing Status HomingStatus 05 BOOL Homing Status StoppingStatus 06 BOOL Stopping Status AxisHomedStatus 07 BOOL Homed Status PositionCamStatus 08 BOOL Position Cam Status TimeCamStatus 09 BOOL Time Cam Status PositionCamPendingStatus 10 BOOL Position Cam Pending Status TimeCamPendingStatus 11 BOOL Time Cam Pending Status GearingLockStatus 12 BOOL Gearing Lock Status PositionCamLockStatus 13 BOOL Position Cam Lock Status TimeCamLockStatus 14 BOOL Time Cam Lock Status M asterOffsetM oveStatus 15 BOOL M aster Offset M ove Status AxisStatus DINT The status
189. true EN bit is set EN bit remains set yes DN bit remains clear _ER bit is set rung condition out remains true instruction detects an error no 1 a rung condition out is set to true processing runs to completion in motion task EN bit remains set yes DN bit is set ER bit remains clear rung condition out is not affected function complete no EN bit remains set DN bit remains clear ER bit remains clear rung condition out is not affected Arithmetic Status Flags not affected Fault Conditions none Publication 1756 RM 007C EN P J uly 2001 4 8 Motion Group Instructions MGSD Error Codes ERR MGSD Changes to Servo Mo L dule EDs MGSD Changes to Axis Status Publication 1756 RM 007C EN P J uly 2001 Bits Error Code Description 3 The instruction tried to execute while another instance or this instruction was executing This can occur when the controller executes a messaging instruction without checking the DN bit of the preceding instruction 12 M essaging to the servo module failed 19 The motion group is not in the synchronized state This could be caused by a missing servo module or a misconfiguration This LED Will change to Meaning FDBK Flashing green Servo a
190. ts Sec CommandAcceleration REAL Command Acceleration in Position Units Sec2 InterpolatedCommandPosition REAL Interpolated Command Position in Position Units ServoM oduleFault DINT Bit Number Data Type Description ControlSyncFault 00 BOOL Control Sync Fault M oduleSyncFault 01 BOOL M odule Sync Fault TimerEventFault 02 BOOL Timer Event Fault M oduleHardw areFault 03 BOOL M odule Hardware Fault AttributeErrorCode INT ASA Error code returned by erred set attribute list service to the module AttributeErrorlD INT Attribute ID associated with non zero Attribute Error Code PositionCommand REAL Position Command in Position Units PositionFeedback REAL Position Feedback in Position Units AuxPositionFeedback REAL Auxiliary Position Feedback in Position Units PositionError REAL Position Error in Position Units PositionIntegratorError REAL Position Integrator Error in Position Units mSec VelocityCommand REAL Velocity Command in Position Units Sec VelocityFeedback REAL Velocity Feedback in Position Units Sec VelocityError REAL Velocity Error in Position Units Sec VelocitylntegratorError REAL Velocity Integrator Error in Position Units mSec Sec AccelerationCommand REAL Acceleration Command in Position Units Sec2 AccelerationFeedback REAL Acceleration Feedback in Position Units Sec2 ServoOutputLevel REAL Servo Output Level in Volts Publication 1756 RM 007C EN P J uly 2001 Structures A 15
191. type timing MAPC Motion Amis Position Cam Slave Axis Master Anis Motion Control Direction Cam Profile Slave Scaling Master Scaling Execution Mode Execution Schedule Master Lock Position Cam Lock Position Master reference Master Direction lt Less ol ete ol oe of Operands M otion M ove Instructions 3 35 Operand Type Format Description Slave Axis AXIS tag The name of the axis that the cam profile is applied to Ellipsis launches Axis Properties dialog Master Axis AXIS tag The axis that the slave axis follows according to the cam profile Ellipsis launches Axis Properties dialog If Pending is selected as the Execution Schedule then Master Axis is ignored Motion MOTION_ tag Structure used to access block status Control INSTRUCTION parameters Direction UINT32 immediate Relative direction of the slave axis to the master ortag axis e Same the slave axis position values are in the same sense as the master s e Opposite the slave axis position values are in the opposite sense of the master s Or relative to the current or previous camming direction e Reverse the current or previous direction of the position cam is reversed on execution W hen executed for the first time with Reverse selected the control defaults the direction to Opposite e Unchanged this allows other cam parameters to be changed without altering the current or previous camming
192. uadrature in the feedback device itself or radiated common mode noise signals being picked up by the feedback device wiring both of which may be able to be seen on an oscilloscope This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear PosErrorFault BOOL Set when the servo has detected that the axis position error has exceeded the current configured value for Position ErrorTolerance This fault condition is latched and requires execution of an explicit M AFR Motion Axis Fault Reset or M ASR Motion Axis Shutdown Reset instruction to clear Publication 1756 RM 007C EN P J uly 2001 A 12 Structures Mnemonic DriveFault Data Type BOOL Description Set when the external servo drive has detected a fault and has communicated the existence of this fault to the servo module via the Drive Fault input This fault condition is latched and requires execution of an explicit M AFR M otion Axis Fault Reset or MASR Motion Axis Shutdown Reset instruction to clear ControlSyncFault BOOL Set when the Logix controller detects that several position update messages in a row from the motion module have been missed due to a failure of the synchronous communications connection This condition results in the automatic shutdown of the associated servo module The Logix controller is designed to ride through a maximum
193. uctions Condition rung condition in is true examine EN bit EN bit 1 EN bit remains set rung condition out remains set to true Action EN bit is set instruction detects an error EN bit remains set DN bit is set ER bit remains clear IP bitis set PC bit remains clear Y rung condition out is set to true processing runs to completion in motion task process complete EN bit remains set DN bit remains clear ER bit is set IP bit remains clear PC bit remains clear rung condition out is set to true EN bit remains set DN bit remains set ER bit remains clear IP bitis 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 no process aborted PC bit remains clear rung condition out is not affected Arithmetic Status Flags not affected Fault Conditions none Publication 1756 RM 007C EN P J uly 2001 M RAT Error Codes ERR MRAT Changes to Axis Status Bits MRAT Example Other Formats Motion Configuration Instructions 6 7 Error Code Description 3 The instruction tried to execute while another instance of this instruction was executing This can occur when the servo module executes a messaging instruction without checking the DN bit of the pr
194. ult BOOL Setwhen the load limit of the motor drive has been exceeded and persists This attribute is often tied into the IT limit of the drive DriveOvertempFault BOOL Set when the drive s temperature exceeds the drive shutdown temperature M otorOvertempFault BOOL Set when the motor s temperature exceeds the motor shutdown temperature Publication 1756 RM 007C EN P J uly 2001 Structures A 21 Mnemonic Data Description Type DriveCoolingFault BOOL Set when the ambient temperature surrounding the drive s control circuitry temperature exceeds the drive ambient shut down temperature DriveControlVoltageFault BOOL Set when the power supply voltages associated with the drive circuitry fall outside of acceptable limits FeedbackFault BOOL Set when one of the feedback sources associated with the drive axis has a problem that prevents the drive from receiving accurate or reliable position information from the feedback device CommutationFault BOOL Set when the commutation feedback source associated with the drive axis has a problem that prevents the drive from receiving accurate or reliable motor shaft information to perform commutation DriveOvercurrentFault BOOL Set when drive output current exceeds the predefined operating limits for the drive DriveOvervoltageFault BOOL Set when drive DC bus voltage exceeds the predefined operating limits for the bus DriveUndervoltageFault BOOL Set when drive DC bus vo
195. ult bits for your servo loop Bit Number Data Type Description PosSoftOtravelFault 00 BOOL Positive Software Overtravel Fault NegSoftOtravelFault 01 BOOL Negative Software Overtravel Fault PosHardOvertravelFault 02 BOOL Positive Hardware Overtravel Fault NegHardOvertravelFault 03 BOOL Negative Hardware Overtravel Fault M otFeedbackFault 04 BOOL Feedback Fault M otFeedbackN oiseFault 05 BOOL Feedback Noise Fault AuxFeedbackFault 06 BOOL Auxiliary Feedback Fault AuxFeedbackN oiseFault 07 BOOL Auxiliary Feedback Noise Fault no tag 08 12 BOOL Reserved GroundShortFault 13 BOOL Ground Short Fault DriveHardFault 14 BOOL Drive Hard Fault OverSpeedFault 15 BOOL Overspeed Fault M otorOverloadFault 16 BOOL Overload Fault DriveOvertempFault 17 BOOL Drive Overtemp Fault M otorOvertempFault 18 BOOL M otor Overtemp Fault DriveCoolingFault 19 BOOL Drive Cooling Fault DriveControlVoltageFault 20 BOOL Drive Control Voltage Fault FeedbackFault 21 BOOL Feedback Fault CommutationFault 22 BOOL Commutation Fault DriveOvercurrentFault 23 BOOL Drive Overcurrent Fault DriveOvervoltageFault 24 BOOL Drive Overvoltage Fault DriveUndervoltageFault 25 BOOL Drive Undervoltage Fault PowerPhaseLossFault 26 BOOL Power Phase Loss Fault PosErrorFault 27 BOOL Position Error Fault no tag 28 BOOL SERCOS Commutation Fault SERCOSErrorCode INT Error code returned by SERCOS module indicating source of drive parameter update failure AccelStatus BOOL Setif the axis is currentl
196. until servo messaging completes and the rung condition in goes false DN BOOL The done bit indicates when the instruction disables axis servo action ER BOOL The error bit indicates when the instruction detects anerror such as if the axis is not configured Publication 1756 RM 007C EN P J uly 2001 Execution Condition prescan M otion State Instructions Action The EN bit is cleared The DN bit is cleared The ER bit is cleared The rung condition out is set to false 2 7 rung condition in is false The EN bit is cleared if either the DN or ER bit is set Otherwise the EN bit is not affected The DN bit is not affected The ER bit is not affected The rung condition out is set to false rung condition in is true examine EN bit EN bit is set EN bit remains set rung condition out remains set to true EN bit remains set yes DN bit remains clear gt ER bit is set instruction detects an error true rung condition out remains no Y o rung condition out is set to true processing runs to completion in motion task EN bit remains set yes DN bit is set ERbit remains clear function complete affected rung condition out is not EN bit remains set DN bit remains clear ER bit remains clear rung condition out is not aff
197. update process was successful Thus the Configuration Update Status Bits attribute provides a method of waiting until the servo configuration data update to the connected motion module is complete before starting a dependent operation PhysicalAxisFault BOOL Set when one or more fault conditions have been reported by the physical axis The specific fault conditions can then be determined through access to the fault attributes of the associated physical axis A PhysicalAxisFault can be set as either a M ajor Fault or a Non Major Fault in the Attribute tab of the associated M otion Group properties dialog box M oduleFault DINT Set when a serious fault has occurred with the motion module associated with the selected axis Usually a module fault affects all axes associated with the motion module A module fault generally results in the shutdown of all associated axes Reconfiguration of the motion module is required to recover from a module fault condition A M oduleFault can be set as either a M ajor Fault or a Non M ajor Fault in the Attribute tab of the associated M otion Group properties dialog box ConfigFault BOOL Set when an update operation targeting an axis configuration attribute of an associated motion module has failed Specific information concerning the Configuration Fault may be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module A ConfigFault can be set as either a
198. ur axis references an unconfigured axis 13 Parameter Out of Range An input parameter is out of range 16 Home in Process Error You tried to execute during a homing operation 19 Group Not Synchronized The axis and its associated axis group were not synchronized at time of execution 23 Illegal Dynamic Change You tried to execute while another Cam Profile was in process 24 Illegal AC Mode Op The controller attempted to execute an MDO MSO MAH MA MAM MCD MAPC MATC MAG M RAT or M RHD instruction when the controller was in the test mode 32 Cam Profile Not Calculated The cam profile array you tried to execute was not calculated Publication 1756 RM 007C EN P J uly 2001 3 40 M otion M ove Instructions MAPC Changes to Axis Status When the Execution Schedule is set to Immediate execution of the Bits MAPC instruction sets the status bits Meaning Position camming is enabled Slave Axis is locked to the M aster Axis according to the Cam Profile Bit Name State PositionCamStatus True PositionCamLockStatus True PositionCamPendingStatus False No pending position cam When the Execution Schedule is set to Forward or Reverse Meaning Position camming is enabled Slave Axis is waiting for the M aster Axis to reach lock position Bit Name State PositionCamStatus True PositionCamLockStatus False PositionCamPendingStatus False No pending position cam When the Execution Sch
199. us Direction 7 A Cam Profile Tn Distance Scaling IPH 7 Time Scaling POH 2 Execution Schedule lt Less Publication 1756 RM 007C EN P J uly 2001 Operand Direction Type UINT32 Format M otion M ove Instructions 3 43 Description immediate or Relative direction of the slave axis to the master tag axis e Same the axis position values in the cam profile are added to the command position of the axis e Opposite 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 e 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 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 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 or tag Scales the total distance covered by the axis
200. values on an Output Cam element Motion Event Instructions 5 19 Figure 5 3 Effect of Compensation Values on Output cam Elements Cam Position Piei mE Position Labeh Otte Unlieh Olbet id i rn Compensated Cam Position Cam range is defined by the Left and Right positions of the Output Cam Compensated cam range is defined by the cam range offset and the latch and unlatch offsets The latch and unlatch offsets are determined by the current speed v Latch Offset v Latch Delay Unlatch Offset v Unlatch Delay The resulting compensation offset can be larger than the difference between the cam start and the cam end position The equation below illustrates the effect of the compensation values on the duration of an Output Cam element Compensated Duration Duration Latch Delay Unlatch Delay MOTION_INSTRUCTION Structure Mnemonic Data Type Number Description EN BOOL 31 The enable bit is set when the rung transitions from false to true DN BOOL 29 The done bit is set when the Output Cam is successfully initiated It is reset when the rung goes from false to true ER BOOL 28 The error bit is set when the Output Cam is not successfully initiated or invalid data is detected in either the OUTPUT_CAM array or OUTPUT_COM PENSATION array Itis reset when the rung goes from false to true IP BOOL 26 The in process bit is set when the Output Cam is successfully initiated It is reset
201. ve A value less than or equal to 0 results in an Illegal Output Cam error and the cam element is not considered EnableType DINT This defines the source and polarity of the specified EnableBit when LatchType or UnlatchType isEnable 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 Enable Bit selected must be between 0 and 31 when LatchType or UnlatchType isEnable 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 OUTPUT COMPENSATION The OUTPUT_COMPENSATION data type defines the details for each Structure Mnemonic Data Type Offset REAL output bit by setting the characteristics of each actuator OUTPUT_COMPENSATION contains the following members Description 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
202. when the cam position moves beyond the cam start or cam end position in Once execution mode or when the Output Cam is superseded by another Output Cam or when terminated by a M DOC instruction PC BOOL 27 The Process Complete bit is set when the cam position moves beyond the cam start or cam end position in Once execution mode It is reset when the rung goes from false to true Publication 1756 RM 007C EN P J uly 2001 M otion Event Instructions Arithmetic Status Flags not affected Fault Conditions none MAOC Error Codes ERR Error Code Error Message Description 7 Shutdown State Error The axis was in a shutdown state when you tried to execute it 11 Axis Not Configured Your axis references an unconfigured axis 13 Value Out of Range The value of at least one operand is out of range 1 Cam start position is greater than or equal to cam end position 2 Cam arm position less than cam start position or greater than cam end position 16 Home in Process Error Execution was attempted during a homing operation 19 Group Not Synchronized The axis and its associated axis group were not synchronized at time of execution 21 Group In Faulted State The group is in the faulted state 23 Illegal Dynamic Change You tried to execute while another Output Cam was in process 35 Illegal Execution Target The Output Cam specified by the Execution Target is not
203. when the rung transitions from false to true It is reset when the rung goes from true to false DN BOOL 29 The done bit is set when the Output Cam is successfully disarmed It is reset when the rung goes from false to true ER BOOL 28 The error bit is set when the Output Cam is not successfully disarmed It is reset when the rung goes from false to true Arithmetic Status Flags not affected Fault Conditions none Publication 1756 RM 007C EN P J uly 2001 5 24 M otion Event Instructions MDOC Error Codes ERR Error Code Error Message Description 11 Axis Not Configured Your axis references an unconfigured axis 19 Group Not Synchronized The axis and its associated axis group were not synchronized at time of execution 35 Illegal Execution Target The Output Cam specified by the Execution Target is not supported for this axis MDOC Example Motion Arm Output Cam Axis Execution Target Motion Control Disarm Type Other Formats Format Syntax neutral text ExecutionTarget 0 MotionControlt Specific MDOC axis execution_target motion_control disarm_type ASCII text MDOC axis execution_target motion control disarm_type Publication 1756 RM 007C EN P J uly 2001 Introduction Chapter 6 M otion Configuration Instructions MAAT MRAT MAHD MRHD ATTENTION Tags used for the motion control attribute of instructions should only be used once Re us
204. xecuted for registration input 1 RegEv2ArmStatus BOOL Set when a registration checking has been armed for registration input 2 through execution of the MAR Motion Arm Registration instruction Cleared when either a registration event occurs or a M DR M otion Disarm Registration instruction is executed for registration input 2 RegEv2Status BOOL Set when a registration event has occurred on registration input 2 Cleared when either another M AR M otion Arm Registration instruction or a M DR M otion Disarm Registration instruction is executed for registration input 2 HomeEvArmStatus BOOL Set when a home event has been armed through execution of the MAH Motion Axis Home instruction Cleared when a home event occurs HomeEvStatus BOOL Set when a home event has occurred Cleared when another M AH M otion Axis Home instruction is executed ControlSyncFault BOOL Set when the Logix controller detects that several position update messages in a row from the motion module have been missed due to a failure of the synchronous communications connection This condition results in the automatic shutdown of the associated servo module The Logix controller is designed to ride through a maximum of four missed position updates without issuing a fault or adversely affecting motion in progress Missing more than four position updates in a row constitutes a problematic condition that warrants shutdown of the
205. xecution selected This bit is cleared when the current position cam profile completes initiating the start of the pending cam profile This bit is also cleared if the position cam profile completes or is Superseded by some other motion operation Publication 1756 RM 007C EN P J uly 2001 A 4 Structures Mnemonic TimeCamPendingStatus Data Type BOOL Description Set if a Time Cam motion profile is currently pending the completion of a currently executing cam profile This would be initiated by executing an MATC instruction with Pending execution selected This bit is cleared when the current time cam profile completes initiating the start of the pending cam profile This bit is also cleared if the time cam profile completes or is superseded by some other motion operation GearingLockStatus BOOL Set whenever the slave axis is locked to the master axis in a gearing relationship according to the specified gear ratio The clutch function of the gearing planner is used to ramp an axis up or down to speed in a gearing process MAG with Clutch selected This bit is cleared during the intervals where the axis is clutching PositionCamLockStatus BOOL Set whenever the master axis satisfies the starting condition of a currently active Position Cam motion profile The starting condition is established by the Start Control and Start Position parameters of the M APC instruction This bit is bit is cleared when the curren
206. xis virtual axis or a position only axis Operands MRP Operand Type Format Description Anei Rene reste EN Tks AXIS tag axis structure a control j DN gt Motion MOTION _ tag motion structure Position Select CER control INSTRUCTION Poston i Type DINT immediate select the type of operation e absolute e relative Position DINT immediate select what position to perform select the redefinition operation on e actual position e command position Position SINT IN DINT or immediate or value to change the axis position REAL tag to or offset to current position MOTION_INSTRUCTION Structure Mnemonic DataType Description EN BOOL The enable bit indicates when the instruction is enabled It remains set until servo messaging completes and the rung condition in goes false DN BOOL The done bit indicates when the instruction redefines the axis position ER BOOL The error bit indicates when the instruction detects an error such as if the axis is not configured Publication 1756 RM 007C EN P J uly 2001 3 30 Motion Move Instructions Execution Condition prescan Action The EN bit is cleared The DN bit is cleared The ER bit is cleared 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 set Otherwise the EN bit is not affected The DN bit is not affected The ER bit is not
207. xis is not looking for a watch position event WatchEvStatus False The previous watch event is cleared MDW Motion Disarm Watch Axis axis jt Motion control axis1_MDW When the input conditions are true the controller disarms watch position event checking for axis1 Format Syntax neutral text MDW axis motion_control ASCII text MDW axis motion_control The MAR instruction is an output instruction Use the MAR instruction to arm servo module registration event checking for an axis The MAR instruction uses message and process type timing Publication 1756 RM 007C EN P J uly 2001 5 8 M otion Event Instructions To use the MAR instruction configure the axis as either a servo axis or a position only axis Operands ee Operand Type Format Description T manh Regednalior a mr EDN Axis AXIS tag axis structure Motan canid i ore Motion MOTION _ tag motion structure Windowed regstaan 7 epes control INSTRUCTION Mr Posteri x A E i T Trigger DINT immediate select the input condition that Max Pasion i condition defines the registration event e trigger on positive edge e trigger on negative edge Windowed DINT immediate select whether the registration registration position is within the position window e disabled e enabled Min position SINT INT immediate or minimum position for windowed DINT or REAL tag registration event checking the registration position must
208. y being commanded to accelerate DecelStatus BOOL Setif the axis is currently being commanded to decelerate M oveStatus BOOL Setif a Move motion profile is currently in progress Cleared when the M ove is complete or is superseded by some other motion operation J ogStatus BOOL Set if a og motion profile is currently in progress Cleared when the J og is complete or is superseded by some other motion operation GearingStatus BOOL Setif the axis is a slave that is currently Gearing to another axis Cleared when the gearing operation is stopped or is superseded by some other motion operation HomingStatus BOOL Setif a Home motion profile is currently in progress Cleared when the homing operation is stopped or is superseded by some other motion operation StoppingStatus BOOL Setif there is a stopping process currently in progress Cleared when the stopping process is complete Note The stopping process is used to stop an axis initiated by an MAS MGS Stop Motion fault action or mode change AxisHomedStatus BOOL Cleared at power up or reconnection Set by the M AH instruction upon successful completion of the configured homing sequence and later cleared when the axis enters the shutdown state PositionCamStatus BOOL Setif a Position Cam motion profile is currently in progress Cleared when the Position Cam is complete or is superseded by some other motion operation TimeCamStatus BOOL Setif a Time Cam motion profile is currently in progress Cle

Logix Controller Motion Instruction Set

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