Allen-Bradley 1756 GuardLogix, 5069 CompactLogix, 1769 CompactLogix, 1769 Compact GuardLogix, 1789 SoftLogix Instruction Manual

...

Reference Manual

LOGIX 5000 Controllers Motion Instructions

1756 ControlLogix, 1756 GuardLogix, 1769 CompactLogix, 1769 Compact GuardLogix, 1789 SoftLogix, 5069 CompactLogix, 5069 Compact GuardLogix, Studio 5000 Logix Emulate

Important user information

Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.

Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice. If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence

Important:

Labels may also be on or inside the equipment to provide specific precautions.

Identifies information that is critical for successful application and understanding of the product.

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.

BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.

ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).

Allen-Bradley, Rockwell Software, Rockwell Automation, and TechConnect are trademarks of Rockwell Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their resp ective companies.

Summary of changes

This manual includes new and updated information. Use these reference tables to locate changed information.

Global changes

This table identifies changes that apply to all information about a subject in the manual and the reason for the change. For example, the addition of new supported hardware, a software design change, or additional reference material would result in changes to all of the topics that deal with that subject.

Subject Reason

All instruction topics. Added new safety controllers 5580 and 5380 to the list of

applicable controllers.

All instruction topics Updated the Ladder Diagram, Reset Signal, and Example

images to reflect the updated user interface.

All instruction topics In the Major/Minor Faults and See also section, replaced the

Common Attributes cross reference with a new cross reference to the Index Through Arrays topic.

All instruction chapter title topics Added new link table with links to each instruction in the

chapter.

Topic Name Reason

Motion Axis Stop (MAS) on page 84 Updated the programming guidelines section with new

paragraph explaining using MAS on any axis associated with a coordinate system.

Motion Direct Drive Off (MDF) on page 51 Updated the programming guidelines section with new

paragraph explaining using MAS on any axis associated with a coordinate system.

Motion Axis Jog (MAJ) on page 101 Updated the programming guidelines section with new

paragraph explaining using MAS on any axis associated with a coordinate system.

Motion Axis Move (MAM) on page 112 Updated the programming guidelines section with new

paragraph explaining using MAS on any axis associated with a coordinate system.

Motion Run Hookup Diagnostic (MRHD) on page 330

Master Driven Coordinated Control (MDCC) on page 354

Motion Coordinated Stop (MCS) on page 465 Updated the descriptions for the Decel Units and Jerk Units

Motion Coordinated Transform with Orientation (MCTO) on page 367

Updated the flow chart

Updated the description for the Nominal Master Velocity operand.

operands. New instruction

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 3

Summary of changes

Topic Name Reason

Motion Coordinated Path Move (MCPM) on page 377

Motion Calculate Transform Position with Orientation (MCTPO) on page 406

Motion Error Codes on page 557 Added new error codes

New instruction

4 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018

Instruction Locator

Use this locator to find the applicable Logix5000 controllers instruction manual for each instruction.

Logix5000 Controllers General Instructions Reference Manual 1756-RM003

Absolute Value (ABS) Alarm (ALM) Master Driven Coordinated Control (MDCC) Add (ADD) Attach to Equipment Phase (PATT) Motion Apply Axis Tuning (MAAT) Analog Alarm (ALMA) Attach to Equipment Sequence (SATT) Motion Apply Hookup Diagnostics (MAHD) Always False (AFI) Coordinated Control (CC) Motion Arm Output Cam (MAOC) Arc Cosine (ACS, ACOS) D Flip-Flop (DFF) Motion Arm Registration (MAR)

Arc Sine (ASN, ASIN) Deadtime (DEDT) Motion Arm Watch (MAW) Arc Tangent (ATN, ATAN) Derivative (DERV) Motion Axis Fault Reset (MAFR) ASCII Chars in Buffer (ACB) Detach from Equipment Phase (PDET) Motion Axis Gear (MAG) ASCII Clear Buffer (ACL) Detach from Equipment Sequence (SDET) Motion Axis Home (MAH) ASCII Handshake Lines (AHL) Discrete 3-State Device (D3SD) Motion Axis Jog (MAJ) ASCII Read (ARD) Discrete 2-State Device (D2SD) Motion Axis Move (MAM) ASCII Read Line (ARL) Enhanced PID (PIDE) Motion Axis Position Cam (MAPC) ASCII Test for Buffer Line (ABL) Enhanced Select (ESEL) Motion Axis Stop (MAS) ASCII Write (AWT) Equipment Phase Clear Failure (PCLF) Motion Axis Time Cam (MATC) ASCII Write Append (AWA) Equipment Phase Command (PCMD) Motion Axis Shutdown (MASD) Bit Field Distribute (BTD) Equipment Phase External Request (PXRQ) Motion Axis Shutdown Reset (MASR) Bit Field Distribute with Target (BTDT) Equipment Phase Failure (PFL) Motion Calculate Cam Profile (MCCP) Bit Shift Left (BSL) Equipment Phase New Parameters (PRNP) Motion Coordinated Path Move (MCPM)

Logix5000 Controllers Advanced Process Control and Drives and Equipment Phase and Sequence Instructions Reference Manual 1756-RM006

Logix5000 Controllers Motion Instructions Reference Manual MOTION-RM002

Bit Shift Right (BSR) Equipment Phase Override Command (POVR) Motion Calculate Slave Values (MCSV) Bitwise And (AND) Equipment Phase Paused (PPD) Motion Coordinated Transform with Orientation

(MCTO)

Bitwise (NOT) Equipment Sequence Assign Sequence Identifier

(SASI)

Bitwise (OR) Equipment Sequence Clear Failure (SCLF) Motion Calculate Transform Position with

Boolean AND (BAND) Equipment Sequence command (SCMD) Motion Change Dynamics (MCD) Boolean Exclusive OR (BXOR) Equipment Sequence Override (SOVR) Motion Coordinated Change Dynamics (MCCD) Boolean NOT (BNOT) Function Generator (FGEN) Motion Coordinated Circular Move (MCCM)

Boolean OR (BOR) High Pass Filter (HPF) Motion Coordinated Linear Move (MCLM) Break (BRK) High/Low Limit (HLL) Motion Coordinated Shutdown (MCSD) Breakpoints (BPT) Integrator (INTG) Motion Coordinated Shutdown Reset (MCSR) Clear (CLR) Internal Model Control (IMC) Motion Coordinated Stop (MCS) Compare (CMP) JK Flip-Flop (JKFF) Motion Coordinated Transform (MCT)

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 5

Motion Calculate Transform Position (MCTP)

Orientation (MCTPO)

Instruction Locator

Logix5000 Controllers General Instructions Reference Manual 1756-RM003

Convert to BCD (TOD) Lead-Lag (LDLG) Motion Direct Drive Off (MDF) Convert to Integer (FRD) Low Pass Filter (LPF) Motion Direct Drive On (MDO) Copy File (COP), Synchronous Copy File (CPS) Maximum Capture (MAXC) Motion Direct Start (MDS) Cosine (COS) Minimum Capture (MINC) Motion Disarm Output Cam (MDOC) Compute (CPT) Modular Multivariable Control (MMC) Motion Disarm Registration (MDR) Count down (CTD) Moving Average (MAVE) Motion Disarm Watch (MDW) Count up (CTU) Moving Standard Deviation (MSTD) Motion Group Shutdown (MGSD) Count up/down CTUD Multiplexer (MUX) Motion Group Shutdown Reset (MGSR) Data Transition (DTR) Notch Filter (NTCH) Motion Group Stop (MGS) Degrees (DEG) Phase State Complete (PSC) Motion Group Strobe Position (MGSP) Diagnostic Detect (DDT) Position Proportional (POSP) Motion Redefine Position (MRP) Digital Alarm (ALMD) Proportional + Integral (PI) Motion Run Axis Tuning (MRAT) DINT To String (DTOS) Pulse Multiplier (PMUL) Motion Run Hookup Diagnostics (MRHD) Divide (DIV) Ramp/Soak (RMPS) Motion Servo Off (MSF) End of Transition (EOT) Rate Limiter (RLIM) Motion Servo On (MSO) Equal to (EQU) Reset Dominant (RESD) File Arithmetic (FAL) Scale (SCL) File Bit Comparison (FBC) S-Curve (SCRV) FIFO Load (FFL) Second-Order Controller (SOC)

FIFO Unload (FFU) Second-Order Lead Lag (LDL2)

Logix5000 Controllers Advanced Process Control and Drives and Equipment Phase and Sequence Instructions Reference Manual 1756-RM006

Logix5000 Controllers Motion Instructions Reference Manual MOTION-RM002

File Average (AVE) Select (SEL) File Standard Deviation (STD) Selected Negate (SNEG) File Fill (FLL) Selected Summer (SSUM) File Sort (SRT) Set Dominant (SETD) Find String (FIND) Split Range Time Proportional (SRTP) For (FOR) Totalizer (TOT) File Search and Compare (FSC) Up/Down Accumulator (UPDN) Get System Value (GSV) and Set System Value

(SST) Greater Than or Equal to (GEQ) Greater than (GRT) Insert String (INSERT) Immediate Output (IOT) Jump to Label (JMP) and Label (LBL) Jump to Subroutine (JSR), Subroutine (SBR), and

Return (RET) Jump to External Routine (JXR) Less Than (LES)

6 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018

Instruction Locator

Logix5000 Controllers General Instructions Reference Manual 1756-RM003

Less Than or Equal to (LEQ) LIFO Load (LFL) LIFO Unload (LFU) License Validation (LV) Limit (LIM) Log Base (LOG) Lower to Case (LOWER) Masked Move (MVM) Masked Move with Target (MVMT) Master Control Reset (MCR) Masked Equal to (MEQ) Message (MSG) Middle String (MID) Modulo (MOD) Move (MOV) Multiply (MUL) Natural Log (LN) Negate (NEG) Not Equal to (NEQ) No Operation (NOP) One Shot (ONS) One Shot Falling (OSF) One Shot Falling with Input (OSFI) One Shot Rising (OSR) One Shot Rising with Input (OSRI) Output Energize (OTE) Output Latch (OTL) Output Unlatch (OTU) Proportional Integral Derivative (PID) Radian (RAD) Real to String (RTOS) Reset (RES) Reset SFC (SFR) Return (RET) Retentive Timer On (RTO) Retentive Timer On with Reset (RTOR) Pause SFC (SFP) Size In Elements (SIZE) Sequencer Input (SQI)

Logix5000 Controllers Advanced Process Control and Drives and Equipment Phase and Sequence Instructions Reference Manual 1756-RM006

Logix5000 Controllers Motion Instructions Reference Manual MOTION-RM002

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 7

Instruction Locator

Logix5000 Controllers General Instructions Reference Manual 1756-RM003

Sequencer Load (SQL) Sequencer Output (SQO) Sine (SIN) Square Roost (SQR/SQRT) String Concatenate (CONCAT) String Delete (DELETE) String to DINT (STOD) String to REAL (STOR) Swap Byte (SWPB) Subtract (SUB) Tangent (TAN) Timer Off Delay (TOF) Timer Off Delay with Reset (TOFR) Timer On Delay (TON) Timer On Delay with Reset (TONR) Temporary End (TND) Tracepoints (TPT) Trigger Event Task (EVENT) Truncate (TRN) Unknown Instruction (UNK) Upper Case (UPPER) User Interrupt Disable (UID)/User Interrupt Enable

(UIE) X to the Power of Y (XPY) Examine if Closed (XIC) Examine If Open (XIO) Bitwise Exclusive (XOR)

Logix5000 Controllers Advanced Process Control and Drives and Equipment Phase and Sequence Instructions Reference Manual 1756-RM006

Logix5000 Controllers Motion Instructions Reference Manual MOTION-RM002

8 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018

Preface

Motion State Instructions

Motion Move Instructions

Studio 5000 environment................................................................................................. 15

Additional resources .......................................................................................................... 16

Legal Notices ....................................................................................................................... 16

Understand Instruction Timing ..................................................................................... 23

Immediate Type Instructions .......................................................................................... 23

Message Type Instructions ............................................................................................... 24

Process Type Instructions ................................................................................................. 25

Write a Motion Application Program ........................................................................... 27

Chapter 1

Motion State Instructions ................................................................................................ 29

Motion Axis Fault Reset (MAFR) .......................................................................... 35

MAFR Flow Chart (True) ....................................................................................... 39

Motion Axis Shutdown (MASD) ........................................................................... 40

MASD Flow Chart (True) ....................................................................................... 45

Motion Axis Shutdown Reset (MASR)................................................................. 45

MASR Flow Chart (True) ....................................................................................... 50

Motion Direct Drive Off (MDF) ........................................................................... 51

MDF Flow Chart (True) .......................................................................................... 55

Motion Direct Drive On (MDO) .......................................................................... 56

MDO Flow Chart (True) ......................................................................................... 62

Motion Drive Start (MDS) ...................................................................................... 63

Motion Servo Off (MSF) .......................................................................................... 71

MSF Flow Chart (True) ........................................................................................... 76

Motion Servo On (MSO) ......................................................................................... 77

MSO Flow Chart (True) .......................................................................................... 81

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 9

Chapter 2

Motion Move Instructions ............................................................................................... 83

Motion Axis Stop (MAS) ......................................................................................... 84

Motion Axis Home (MAH) .................................................................................... 93

MAH Flow Chart (True) ....................................................................................... 100

Motion Axis Jog (MAJ) .......................................................................................... 101

Motion Axis Move (MAM) ................................................................................... 112

Motion Axis Gear (MAG) ..................................................................................... 125

MAG Flow Chart (True) ....................................................................................... 137

Motion Change Dynamics (MCD) ..................................................................... 138

MCD Flow Chart (True) ....................................................................................... 148

Motion Redefine Position (MRP) ........................................................................ 149

MRP Flow Chart (True) ........................................................................................ 155

Motion Calculate Cam Profile (MCCP) ............................................................ 156

Table of contents

Motion Group Instructions

Motion Event Instructions

Motion Configuration

Motion Calculate Slave Values (MCSV) ............................................................. 163

Motion Axis Position Cam (MAPC) .................................................................. 166

MAPC Flow Chart (True) ..................................................................................... 190

Motion Axis Time Cam (MATC) ....................................................................... 191

MATC Flow Chart (True) .................................................................................... 209

Chapter 3

Motion Group Instructions ........................................................................................... 211

Motion Group Stop (MGS) ................................................................................... 212

MGS Flow Chart (True) ........................................................................................ 219

Motion Group Shutdown (MGSD) .................................................................... 220

MGSD Flow Chart (True) ..................................................................................... 225

Motion Group Shutdown Reset (MGSR) .......................................................... 226

MGSR Flow Chart (True) ..................................................................................... 229

Motion Group Strobe Position (MGSP) ............................................................ 230

MGSP Flow Chart (True) ...................................................................................... 233

Chapter 4

Motion Event Instructions ............................................................................................. 235

Motion Arm Watch (MAW) ................................................................................ 236

MAW Flow Chart (True) ...................................................................................... 242

Understand a Programming example ................................................................... 243

Motion Disarm Watch (MDW) ........................................................................... 243

MDW Flow Chart (True) ...................................................................................... 248

Motion Arm Registration (MAR) ........................................................................ 249

MAR Flow Chart (True) ........................................................................................ 257

Motion Disarm Registration (MDR) .................................................................. 258

Motion Arm Output Cam (MAOC) .................................................................. 262

Scheduled Output Module ..................................................................................... 282

Specifying the Output Cam ................................................................................... 289

Specifying Output Compensation ........................................................................ 293

MAOC Flow Chart (True) .................................................................................... 297

Motion Disarm Output Cam (MDOC) ............................................................. 298

MDOC Flow Chart (True) ................................................................................... 303

Instructions

10 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018

Chapter 5

Motion Configuration Instructions ............................................................................. 305

Motion Apply Axis Tuning (MAAT) ................................................................. 306

MAAT Flow Chart (True) .................................................................................... 313

Motion Run Axis Tuning (MRAT) ..................................................................... 313

MRAT Flow Chart (True)..................................................................................... 323

Motion Apply Hookup Diagnostics (MAHD) ................................................. 324

MAHD Flow Chart (True) ................................................................................... 329

Multi-Axis Coordinated MDSC Functionality

Motion Instructions

Table of contents

Motion Run Hookup Diagnostics (MRHD) ..................................................... 330

MRHD Flow Chart (True) ................................................................................... 343

Modify Motion Configuration Parameters ................................................................ 344

Chapter 6

Multi-Axis Coordinated Motion Instructions ........................................................... 345

Master Driven Coordinated Control (MDCC) ............................................... 354

Motion Calculate Transform Position (MCTP) .............................................. 361

Motion Coordinated Transform with Orientation (MCTO) ....................... 367

Motion Coordinated Path Move (MCPM) ....................................................... 377

Motion Coordinated Change Dynamics (MCCD) ......................................... 392

Motion Calculate Transform Position with Orientation (MCTPO) .......... 406

Motion Coordinated Circular Move (MCCM) ............................................... 414

Motion Coordinated Linear Move (MCLM) .................................................... 437

Motion Coordinated Shutdown (MCSD) ......................................................... 458

Motion Coordinated Shutdown Reset (MCSR) ............................................... 462

Motion Coordinated Stop (MCS) ....................................................................... 465

Motion Coordinated Transform (MCT) ........................................................... 476

Speed, acceleration, deceleration, and jerk enumerations for coordinated

motion ........................................................................................................................ 489

Returned Calculated Data Parameter for Coordinated System Motion

Instruction ................................................................................................................. 494

Status Bits for Motion Instructions (MCLM, MCCM) when MDCC Is

Active .......................................................................................................................... 496

Change between master driven and time driven modes for Coordinated

Motion instructions ................................................................................................. 499

Choose a Termination Type .................................................................................. 500

Common Action Table for Slave Coordinate System and Master Axis ....... 509

Input and Output Parameters Structure for Coordinate System Motion

Instructions ................................................................................................................ 511

Returned Calculated Data Parameter for Coordinated System Motion

Instruction ................................................................................................................. 519

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 11

Chapter 7

Master Driven Axis Control (MDAC) ....................................................................... 521

Changing Between Master Driven and Time Driven Modes for Single Axis

Motion Instructions ........................................................................................................ 529

Common Action Table for Slave and Master Axis ................................................... 531

Input and Output Parameters Structure for Single Axis Motion Instructions ... 533

Speed, Acceleration, Deceleration, and Jerk Enumerations .................................... 538

Time Based Planning ....................................................................................................... 546

Status Bits for Motion Instructions (MAM, MATC, MAJ) When MDAC Is

Active .................................................................................................................................. 550

Table of contents

Program a velocity profile Motion Error Codes, faults,

Overview of motion-related

Overview of Structured Text

and jerk rate and tune an S-Curve Profile

and attributes

Chapter 8

Definition of Jerk ............................................................................................................. 551

Choose a Profile ................................................................................................................ 551

Velocity Profile Effects .................................................................................................... 553

Tune an S-Curve Profile ................................................................................................. 553

Chapter 9

Motion Error Codes (.ERR) .......................................................................................... 557

Handle Motion Faults ..................................................................................................... 568

Motion Attributes ............................................................................................................ 569

Understand Motion Status and Configuration Parameters .................................... 608

Troubleshoot Axis Motion ............................................................................................ 608

Chapter 10

data types

Programming

CAM Structure ................................................................................................................. 627

CAM_PROFILE Structure ........................................................................................... 627

MOTION_GROUP Structure .................................................................................... 628

MOTION_INSTRUCTION Data Type ................................................................. 630

OUTPUT_CAM Structure .......................................................................................... 632

OUTPUT_COMPENSATION Structure............................................................... 633

Chapter 11

Structured Text Syntax ................................................................................................... 635

Structured Text Components: Assignments .............................................................. 636

Structured Text Components: Expressions ................................................................ 638

Use arithmetic operators and functions ...................................................................... 640

Use relational operators .................................................................................................. 641

Use logical operators ........................................................................................................ 642

Use bitwise operators ....................................................................................................... 643

Determine the order of execution ................................................................................. 644

Structured Text Components: Instructions ............................................................... 644

Structured Text Components: Constructs ................................................................. 645

Character string literals ................................................................................................... 646

IF_THEN .......................................................................................................................... 648

CASE_OF ......................................................................................................................... 651

FOR_DO ........................................................................................................................... 653

WHILE_DO .................................................................................................................... 655

REPEAT_UNTIL ........................................................................................................... 658

Structured Text Components: Comments ................................................................ 660

12 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018

Common attributes for Index

Motion instructions

Table of contents

Chapter 12

Common Attributes ........................................................................................................ 663

Index Through Arrays ..................................................................................................... 663

Immediate values .............................................................................................................. 664

Floating Point Values ...................................................................................................... 664

LINT data types ............................................................................................................... 666

Data Types ......................................................................................................................... 667

Data Conversions ............................................................................................................. 669

Math Status Flags ............................................................................................................. 673

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 13

Studio 5000 environment

Preface

This manual provides a programmer with details about the available General, Motion, Process, and Drives instruction set for a Logix-based controller.

If you design, program, or troubleshoot safety applications that use GuardLogix controllers, refer to the

Reference Manual , publication 1756-RM095 .

This manual is one of a set of related manuals that show common procedures for programming and operating Logix 5000™ controllers.

GuardLogix Safety Application Instruction Set Safety

For a complete list of common procedures manuals, refer to the

Controllers Common Procedures Programming Manual , publication 1756-PM001 .

The term Logix 5000 controller refers to any controller that is based on the Logix 5000 operating system.

The Studio 5000 Automation Engineering & Design Environment® combines

engineering and design elements into a common environment. The first element is the Studio 5000 Logix Designer® application. The Logix Designer application is the rebranding of RSLogix 5000® software and will continue to be the product to program Logix 5000™ controllers for discrete, process, batch, motion, safety, and drive-based solutions.

Logix 5000

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 15

The Studio 5000® environment is the foundation for the future of Rockwell Automation® engineering design tools and capabilities. The Studio 5000 environment is the one place for design engineers to develop all elements of their control system.

Preface

Additional resources

Legal Notices

These documents contain additional information concerning related Rockwell

Automation products.

Resource Description

Industrial Automation Wiring and Grounding Guidelines ,

publication 1770-4.1

Provides general guidelines for installing a Rockwell Automation industrial system.

Product Certifications webpage, available at

http://ab.rockwellautomation.com

Provides declarations of conformity, certificates, and other certification details.

You can view or download publications at

http://www.rockwellautomation.com/literature

. To order paper copies of technical documentation, contact your local Rockwell Automation distributor or sales representative.

This document and any accompanying Rockwell Software products are copyrighted by Rockwell Automation Technologies, Inc. Any reproduction and/or distribution without prior written consent from Rockwell Automation Technologies, Inc. is strictly prohibited. Please refer to the license agreement for details.

End User License Agreement (EULA)

You can view the Rockwell Automation End-User License Agreement ("EULA") by opening the License.rtf file located in your product's install folder on your hard drive.

16 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018

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Preface

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Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 17

Preface

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Preface

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3. All advertising materials mentioning features or use of this software must display the following acknowledgment: "This product includes software developed by the OpenSSL Project for use in the OpenSSL Toolkit. (http://www.openssl.org/)"

4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to endorse or promote products derived from this software without prior written permission. For written permission, please contact openssl-core@openssl.org.

5. Products derived from this software may not be called "OpenSSL" nor may "OpenSSL" appear in their names without prior written permission of the OpenSSL Project.

6. Redistributions of any form whatsoever must retain the following acknowledgment: "This product includes software developed by the OpenSSL Project for use in the OpenSSL Toolkit (http://www.openssl.org/)"

THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT "AS IS'' AND ANY EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 19

Preface

NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE OpenSSL PROJECT OR ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

================================================= ===================

This product includes cryptographic software written by Eric Young (eay@cryptsoft.com). This product includes software written by Tim Hudson (tjh@cryptsoft.com). /

Original SSLeay License

-----------------------

This package is an SSL implementation written by Eric Young (eay@cryptsoft.com).

The implementation was written so as to conform with Netscapes SSL.

This library is free for commercial and non-commercial use as long as the following conditions are adhered to. The following conditions apply to all code found in this distribution, be it the RC4, RSA, lhash, DES, etc., code; not just the SSL code. The SSL documentation included with this distribution is covered by the same copyright terms except that the holder is Tim Hudson (tjh@cryptsoft.com).

If this package is used in a product, Eric Young should be given attribution as the author of the parts of the library used. This can be in the form of a textual message at program startup or in documentation (online or textual) provided with the package.

20 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018

Preface

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the copyright notice, this list of conditions and the following disclaimer.

3. All advertising materials mentioning features or use of this software must display the following acknowledgment: "This product includes cryptographic software written by Eric Young (eay@cryptsoft.com)" The word 'cryptographic' can be left out if the routines from the library being used are not cryptographic related :-).

4. If you include any Windows specific code (or a derivative thereof) from the apps directory (application code) you must include an acknowledgment: "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"

THIS SOFTWARE IS PROVIDED BY ERIC YOUNG "AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

The licence and distribution terms for any publicly available version or derivative of this code cannot be changed. [i.e., this code cannot simply be copied and put under another distribution licence (including the GNU Public Licence.)]

Trademark Notices

Allen-Bradley, ControlBus, ControlFLASH, Compact GuardLogix, Compact I/O, ControlLogix, CompactLogix, DCM, DH+, Data Highway Plus, DriveLogix, DPI, DriveTools, Explorer, FactoryTalk, FactoryTalk Administration Console, FactoryTalk Alarms and Events, FactoryTalk Batch, FactoryTalk Directory, FactoryTalk Security, FactoryTalk Services Platform, FactoryTalk View, FactoryTalk View SE, FLEX Ex, FlexLogix, FLEX I/O, Guard I/O, High

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 21

Preface

Performance Drive, Integrated Architecture, Kinetix, Logix5000, Logix 5000, Logix5550, MicroLogix, DeviceNet, EtherNet/IP, PLC-2, PLC-3, PLC-5, PanelBuilder, PowerFlex, PhaseManager, POINT I/O, PowerFlex, Rockwell Automation, RSBizWare, Rockwell Software, RSEmulate, Historian, RSFieldbus, RSLinx, RSLogix, RSNetWorx for DeviceNet, RSNetWorx for EtherNet/IP, RSMACC, RSView, RSView32, Rockwell Software Studio 5000 Automation Engineering & Design Environment, Studio 5000 View Designer, SCANport, SLC, SoftLogix, SMC Flex, Studio 5000, Ultra 100, Ultra 200, VersaView, WINtelligent, XM, SequenceManager are trademarks of Rockwell Automation, Inc.

Any Rockwell Automation logo, software or hardware product not mentioned herein is also a trademark, registered or otherwise, of Rockwell Automation, Inc.

Other Trademarks

CmFAS Assistant, CmDongle, CodeMeter, CodeMeter Control Center, and WIBU are trademarks of WIBU-SYSTEMS AG in the United States and/or other countries. Microsoft is a registered trademark of Microsoft Corporation in the United States and/or other countries. ControlNet is a trademark of ControlNet International. DeviceNet is a trademark of the Open DeviceNet Vendors Association (ODVA). Ethernet/IP is a trademark of ControlNet International under license by ODVA.

All other trademarks are the property of their respective holders and are hereby acknowledged.

Warranty

This product is warranted in accordance with the product license. The product’s performance may be affected by system configuration, the application being performed, operator control, maintenance, and other related factors. Rockwell Automation is not responsible for these intervening factors. The instructions in this document do not cover all the details or variations in the equipment, procedure, or process described, nor do they provide directions for meeting every possible contingency during installation, operation, or maintenance. This product’s implementation may vary among users.

This document is current as of the time of release of the product; however, the accompanying software may have changed since the release. Rockwell Automation, Inc. reserves the right to change any information contained in this document or the software at any time without prior notice. It is your responsibility to obtain the most current information available from Rockwell when installing or using this product.

22 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018

Preface

Understand

Immediate Type

Environmental Compliance

Rockwell Automation maintains current product environmental information on its website at

http://www.rockwellautomation.com/rockwellautomation/about-us/sustainabili ty-ethics/product-environmental-compliance.page

Contact Rockwell

Customer Support Telephone — 1.440.646.3434

Instruction Timing

Instructions

Online Support — http://www.rockwellautomation.com/support/

Motion instructions use three types of timing sequences:

Description Timing Type

The instruction completes in one scan. immediate on page 23 The instruction completes over several

scans because the instruction sends messages to the servo module.

The instruction could take an indefinite amount of time to complete.

message on page 24

process on page 25

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:

• Motion Change Dynamics (MCD) instruction

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 23

• Motion Group Strobe Position (MGSP) instruction

Immediate instructions work as follows:

1. When the rung that contains the motion instruction becomes true, the controller:

• Sets the enable (EN) bit.

• Clears the done (DN) bit.

• Clears the error (ER) bit.

2. The controller executes the instruction completely.

Preface

Message Type

If the controller: Then:

Does not detect an error when the instruction executes

Detects an error when the instruction executes

The controller sets the .DN bit.

The controller sets the .ER bit and 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.

Message type motion instructions send one or more messages to the servo module.

Instructions

Examples of message type instructions include the:

• Motion Direct Drive On (MDO) instruction

• Motion Redefine Position (MRP) instruction

Message type instruction work as follows:

1. When the rung that contains the motion instruction becomes true, the controller:

• Sets the enable (EN) bit.

• Clears the done (DN) bit.

• Clears the error (ER) bit.

2. The controller begins to execute the instruction by setting up a message request to the servo module.

Tip:

The remainder of the instruction executes in parallel to the program scan.

3. The controller checks if the servo module is ready to receive a new message.

24 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018

4. The controller places the results of the check in the message status word of the control structure.

5. When the module is ready, the controller constructs and transmits the message to the module.

Tip:

This process may repeat several times if the instruction requires multiple messages.

6. The instruction executes.

Preface

Process Type

If the controller: Then:

Does not detect an error when the instruction executes

Detects an error when the instruction executes

The controller sets the .DN bit.

The controller sets the .ER bit and stores an error code in the control structure.

7. The next time the rung becomes false after either the .DN or .ER bit sets, the controller clears the .EN bit.

8. When the rung becomes true, the controller can execute the instruction again.

Instructions

Motion State Instructions

Chapter 1

Motion State Instructions

Motion state control instructions directly control or change the operating states of an axis. These are the motion state instructions.

Available Instructions

Ladder Diagram and Structured Text

MSO MSF MASD MASR MDO MDF MDS MAFR

Function Block

Not available

Important:

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. This may result in damage to equipment or personal injury.

Motion state control instructions directly control or change the operating states of an axis. The motion state instructions are:

If you want to: Use this instruction:

Enable the servo drive and activate the axis servo loop. MSO Disable the servo drive and deactivate the axis servo

loop. 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.

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.

Enable the servo drive and set the servo output voltage of an axis.

Deactivate the servo drive and set the servo output voltage to the output offset voltage.

Activate the drive control loops for the specified axis and run the motor at the specified speed.

Clear all motion faults for an axis. MAFR

MSF

MASD

MASR

MDO

MDF

MDS

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 29

Chapter 1

Motion State Instructions

The five operating states of a non-CIP axis are:

Operating State Description

Axis Ready This is the normal power-up state of the axis. In this state:

• The servo module drive enable output is inactive.

• 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:

• The servo module drive enable output is active.

• Position servo action is disabled.

Servo Control This operating state allows the servo module to perform closed

loop motion. In this state:

• The servo module drive enable output is active.

• Servo action is enabled.

• The axis is forced to maintain the commanded servo position.

Axis Faulted In this operating state, a servo fault is present, and the status of

the drive enable output, the action of the servo, and the condition of the OK contact depend on the faults and fault actions that are present.

Shutdown This operating state allows the OK relay contacts to open a set of

contacts in the E- string of the drive power supply. In this state:

• The servo module drive enable output is inactive.

• Servo action is disabled.

• The OK contact is open.

The 16 operating states of a CIP axis are:

As Shown in the Logix Designer

Operating State

Initializing 0 During the Initializing State, the drive first initializes

Programming Application Description

all attributes to their factory default values, that is, resets all active faults. The drive then waits for the controller to establish connections to it. Once connections are established, the controller sets configuration attributes in the drive to values stored in the controller. If the drive supports synchronous operation, the controller then synchronizes with the drive. Once this process has been completed successfully, the drive and all its associated axis instances transition to the Pre-charge state. If a problem is found during the initializing process, an Initialization Fault is generated. An Initialization Fault is an unrecoverable fault. You can only clear the fault can via a power cycle or a drive reset. If the connection to the drive closes for any reason during operation, the drive returns to the Initializing State

30 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018

+ 646 hidden pages

Allen-Bradley 1756 GuardLogix, 5069 CompactLogix, 1769 CompactLogix, 1769 Compact GuardLogix, 1789 SoftLogix Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

LOGIX 5000 Controllers Motion Instructions

Important user information

Summary of changes

Instruction Locator

Table of contents

Studio 5000 environment

Preface

Additional resources

Legal Notices

Motion State Instructions