Allen-Bradley 1756 ControlLogix - Page 259

Motion Event Instructions
Chapter 4
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 259
Operands
Ladder Diagram and Structured Text
Operand Type
CompactLogix 5380,
CompactLogix 5480,
ControlLogix 5580, Compact
GuardLogix 5380, and
GuardLogix 5580 controllers
Type
CompactLogix 5370, ControlLogix
5570, Compact GuardLogix 5370,
and GuardLogix 5570 controllers
Format Description
Axis AXIS_CIP_DRIVE AXIS_CIP_DRIVE
AXIS_GENERIC
AXIS_GENERIC_DRIVE
AXIS_SERVO
AXIS_SERVO_DRIVE
Tag Name of the axis to perform
operation on
Motion Control MOTION_INSTRUCTION MOTION_INSTRUCTION Tag Structure used to access instruction
status parameters.
Input Number UINT32 UINT32 1 or 2 Specifies the Registration Input to
select.
1 = Registration 1 Position
2 = Registration 2 Position
See Structured Text Syntax for more information on the syntax of expressions
within structured text.
MOTION_INSTRUCTION Structure
Mnemonic Description
.EN (Enable) Bit 31 It is set to true when the rung makes a false-to-true transition and remains set to
true until the servo message transaction is completed and the rung goes false.
.DN (Done) Bit 29 It is set to true when axis watch event checking has been successfully disarmed.
.ER (Error) Bit 28 It is set to true to indicate that the instruction detected an error, such as if you
specified an unconfigured axis.
Description
The MDR instruction cancels registration event checking established by a
previous Motion Arm Registration instruction. Only the registration checking
associated with the specified registration input is disabled.
If the targeted axis does not appear in the list of available axes, the axis has not
been configured for operation. Use the Tag Editor to create and configure a new
axis.