Rockwell Automation Publication 5069-UM002A-EN-P - January 2019 207
Develop Motion Applications Chapter 9
Program Motion Control
The controller provides a set of motion control instructions for your axes:
• The controller uses the instructions just like the rest of the Logix 5000™
instructions.
• Each motion instruction works on one or more axes.
• Each motion instruction needs a motion control tag. The tag uses a
MOTION_INSTRUCTION data type and stores the information
status of the instruction.
• You can use motion control instructions in the following
programming languages:
– Ladder Diagram (LD)
– Structured Text (ST)
– Sequential Function Chart (SFC)
For more information, see the Logix 5000 Controller Motion Instructions
Reference Manual, publication
MOTION-RM002.
Figure 43 - Motion Control Instruction
ATTENTION: Use each motion control tag in only one motion instruction.
Unintended operation can result if you reuse the same motion control tag in
other motion instructions, or if you write to any of the motion control tag
elements.
Motion Control Tag
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