Allen-Bradley 1756 ControlLogix - Motion Arm Registration (MAR)

Motion Event Instructions
Chapter 4
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 249
This information applies to the CompactLogix 5370, ControlLogix 5570,
Compact GuardLogix 5370, GuardLogix 5570, Compact GuardLogix 5380,
CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers. Controller differences are noted where applicable.
Use the Motion Arm Registration (MAR) instruction to arm registration event
checking for the specified axis. When the instruction is called, a registration event
is armed based on the selected Registration Input and the specified Trigger
Condition. When the specified Registration Input transition satisfies the Trigger
Condition, the axis computes the axis position at the moment the event occurred
based on hardware latched encoder count data and stores it in the associated
Registration Position variable in the axis data structure. Also, the instruction’s
Event (PC) bit is simultaneously set, as well as the Registration Event Status bit in
the axis data structure. If Windowed Registration is selected, only registration
events whose computed registration position falls within the Max and Min
Position window are accepted. If the Registration Position falls outside this
window the registration event checking is automatically rearmed.
Available Languages
Ladder Diagram
Function Block
This instruction is not available in function block.
Structured Text
MAR(Axis,MotionControl, TriggerCondition, WindowedRegistration,
MinimumPosition, MaximumPosition, InputNumber);
Motion Arm Registration (MAR)