Allen-Bradley 1756 ControlLogix - Page 157

Motion Move Instructions
Chapter 2
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 157
Ladder Diagram
Operand Type Format Description
Motion Control MOTION_INSTRUCTION Tag Structure used to access block status
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 Immediate or
Tag
Determines the number of cam elements in
the array used in the cam profile
calculation.
Start Slope REAL Immediate or
Tag
This is the boundary condition for the initial
slope of the profile. It is valid only for a
cubic first segment and is used to specify a
slope through the first point.
End Slope REAL Immediate or
Tag
This is the boundary condition for the
ending slope of the profile. It is valid only
for a cubic last segment and is used to
specify a slope through the last point.
Cam Profile CAM_PROFILE Array Tag name of the calculated cam profile
array used as input to MAPC and MATC
instructions. Only the zero array element
([0]) is allowed for the Cam Profile array.
Ellipsis launches Cam Profile Editor.
Structured Text
Operand Type Format Description
Source SINT
INT
DINT
REAL
STRING
structure
tag Initial element to copy
Important: the Source and Destination
operands should be the same data type, or
unexpected results may occur
Destination SINT
INT
DINT
REAL
STRING
LINT
structure
tag Initial element to be overwritten by the
Source
Important: the Source and Destination
operands should be the same data type, or
unexpected results may occur
Length DINT immediate
tag
Number of Destination elements to copy
See Structured Text Syntax for more information on the syntax of expressions
within structured text.