Motion Configuration Instructions
324 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
This information applies to the CompactLogix 5370, ControlLogix 5570,
Compact GuardLogix 5370, GuardLogix 5570, and ControlLogix 5580
controllers.
The Motion Apply Hookup Diagnostics (MAHD) instruction is used to apply
the results of a previously run the Motion Run Hookup Diagnostics (MRHD)
instruction to generate a new set of encoder and servo polarities based on the
Observed Direction of motion during the test. As part of the application process
the instruction updates the motion module with these new polarity settings. After
execution of the MAHD instruction, and assuming that a stable set of gains has
been established, the corresponding axis should be ready for servo activation.
Available Languages
Ladder Diagram
Function Block
This instruction is not available in function block.
Structured Text
MAHD(Axis,MotionControl,DiagnosticTest,ObservedDirection);
Operands
There are data conversion rules for mixed data types within an instruction. See
Data Conversion.
Diagnostics (MAHD)
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