Allen-Bradley Micro800

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Chapter 17 Motion control instructions

476 Rockwell Automation Publication 2080-RM001D-EN-E - February 2015

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Default Chapter3
- Table of Contents3
- In this Manual13
Preface13
- Supported Controllers13
- Additional Resources14
Chapter 1 Instruction Blocks15
Finding Information about Instructions and Ladder Elements15
- Functions16
- Operators16
- Function Blocks18
- Instruction Set in Alphabetical Order19
- Instruction Set by Type and Function23
Chapter 229
Ladder Diagram (LD) Language29
- LD Program29
- LD Program Development Environment30
Ladder Diagram (LD) Elements32
Chapter 335
- Instruction Block (LD)35
- Coil39
- Contact44
- Return48
- Jump49
- Instruction Blocks in LD Programs49
- Working in the LD Language Editor50
- Ladder Diagram (LD) Program Examples52
  - Example: R_TRIG Function Block52
  - Example: Comparing Real Values Using Subtraction (-) ABS, and Less than (<)53
- LD Keyboard Shortcuts54
Chapter 457
Alarm Instruction58
- Lim_Alrm58
- Abs62
Chapter 562
- Acos64
- Acos_Lreal66
- Addition68
- Asin69
- Asin_Lreal71
- Atan73
- Atan_Lreal75
- Cos77
- Cos_Lreal79
- Division81
- Expt82
- Log84
- Mod86
- Mov88
- Multiplication89
- Neg90
- Pow91
- Rand93
- Sin95
- Sin_Lreal97
- Sqrt99
- Subtraction101
- Tan102
- Tan_Lreal104
- Trunc106
ASCII Serial Port Instructions109
Chapter 6109
- Abl110
- Acb112
- Acl114
- Ahl116
- Ard118
- Arl121
- Awa123
- Awt125
- Rockwell Automation Publication 2080-RM001D-EN-E - February126
- ASCII Parameter Details127
Chapter 7131
- And_Mask132
Binary Instructions132
- Not_Mask134
- Or_Mask136
- Rol138
- Ror140
- Shl142
- Shr144
- Xor_Mask146
Boolean Instructions149
Chapter 8149
- F_Trig150
- R_Trig152
- And157
- Xor158
- Not159
- Ttable162
  - TTABLE Input Combinations163
- Mux8B166
- Mux4B170
Chapter 9173
- Msg_Cipgeneric174
- Msg_Cipsymbolic184
- Msg_Modbus197
- Msg_Modbus2205
- Message Execution Processes and Timing Diagrams213
- Using the Communication (Message) Function Blocks222
- Communication Protocol Support257
  - Embedded Communication Channels258
  - Rockwell Automation Publication 2080-RM001D-EN-E - February259
Compare Instructions Equal260
Chapter 10 Equal ..................................................................................................................... 260262
- Greater than262
- Greater than or Equal263
- Less than264
- Less than or Equal265
- Not Equal266
Counter Instructions267
- Ctd268
- Ctu270
- Ctud273
Chapter 11267
Chapter 12277
- Any_To_Bool278
- Any_To_Byte279
- Any_To_Date280
- Any_To_Dint281
- Any_To_Dword282
- Any_To_Int283
- Any_To_Lint284
- Any_To_Lreal285
- Any_To_Lword286
- Any_To_Real287
- Any_To_Sint288
- Any_To_String289
- Any_To_Time290
- Any_To_Udint291
- Any_To_Uint292
- Any_To_Ulint293
- Any_To_Usint294
- Any_To_Word295
Data Manipulation Instructions297
- Average298
Chapter 13298
- Cop300
  - COP Operation Status Values304
  - Copying to a Different Data Type304
- Min305
- Max307
High-Speed Counter (HSC) What Is a High-Speed Counter309
Chapter 14 What Is a High-Speed Counter? ...................................................................... 309311
- Hsc311
- Hsc_Set_Sts332
- Using the High-Speed Counter Instructions335
Chapter 15357
- Lcd358
- Lcd_Bklt_Rem361
  - LCD_BKLT_REM Status Codes363
- Lcd_Rem364
  - LCD_REM Status Codes368
- Rhc369
- Rpc371
- Dlg373
  - DLG Status Codes375
  - DLG Error Codes375
- IIM376
- Rockwell Automation Publication 2080-RM001D-EN-E - February376
  - IIM Status Codes378
- Iom379
  - IOM Status Codes381
- Key_Read382
- Key_Read_Rem386
  - KEY_READ_REM Operation387
  - KEY_READ_REM Status Codes388
  - Keydata Bitfields Table389
- Mm_Info390
  - MMINFO Data Type392
- Plugin_Info393
- Plugin_Read396
  - PLUGIN_READ Status Codes398
- Plugin_Reset399
- Plugin_Write401
- Rcp403
  - RCP Status Codes405
  - RCP Error Codes406
- Rtc_Read407
  - RTC Data Type409
- Rtc_Set410
  - RTC Set Status Values412
- Sys_Info413
  - SYS_INFO Data Type415
- Trimpot_Read416
  - Trimpot ID Definition418
  - Trimpot Operation Status Values418
Chapter 16419
Interrupt Instructions420
- Stis420
- Uic422
- Uid424
- Uie426
- Uif428
Motion Control Instructions General Rules for Motion Control Function Blocks432
Chapter 17 General Rules for Motion Control Function Blocks ........................................ 432435
- Motion Control Function Block Parameter Details435
  - Motion Control Axis States435
  - Motion Control Function Block Parameter Numbers438
  - Motion Control Function Block Error Ids440
  - Axis Error Scenarios442
  - AXIS_REF Data Type443
  - FB_AXIS_REF Data Type443
  - Axis Variables445
- Mc_Aborttrigger446
- Mc_Halt449
- Mc_Home453
  - Homing Modes457
- Mc_Moveabsolute460
- Mc_Moverelative463
- Mc_Movevelocity468
- Mc_Power473
- Mc_Readactualposition477
- Mc_Readactualvelocity481
- Mc_Readaxiserror485
  - Axiserrorid Error Codes489
- Mc_Readboolparameter491
- Mc_Readparameter495
- Mc_Readstatus498
- Mc_Reset503
- Mc_Setposition506
- Mc_Stop510
- Mc_Touchprobe514
  - Motion Fixed Input/Output518
- Mc_Writeboolparameter519
- Mc_Writeparameter523
- Rockwell Automation Publication 2080-RM001D-EN-E - February524
Chapter 18528
- Derivate528
Process Control Instructions528
- Hyster530
- Integral532
- Pwm539
  - PWM Status Codes542
- Scaler543
- Stackint546
- Tnd549
- Limit551
Program Control Instruction555
- Sus556
Chapter 19555
Chapter 20559
- Derivative (PID) Instruction How the Ipidcontroller Function Block Implements PID Control560
Proportional Integral560
- Ipidcontroller562
  - GAIN_PID Data Type566
  - At_Param Data Type566
- Ipidcontroller Function Block Operation567
- Using the Proportional Integral Derivative Instruction569
Chapter 21587
- Rtc_Read588
- Rtc_Set590
  - RTC Data Type592
  - RTC Set Status Values592
- Ascii594
Chapter 22594
- Char596
- Delete598
- Find600
- Insert602
- Left604
- MID606
- Mlen608
- Right610
- Replace613
Timer Instructions617
- Tof619
- Ton622
- Tonoff625
- Rto631
- Doy634
  - DOYDATA Data Type636
- Tdf637
- Tow639
  - TOWDATA Data Type642
Chapter 23617
Index643
- Rockwell Automation Publication 2080-RM001D-EN-E - February643

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