Motion Configuration Instructions
332 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Description - AXIS_SERVO, AXIS_SERVO_DRIVE
The MRHD instruction is used to execute various test diagnostics on the specified
axis to test the integrity and, in some cases, the polarity of servo field connections.
There are currently test diagnostics supporting drive hookup, encoder hookup,
marker hookup and motion module OK contact hookup. Test for Commutation
also available when using Axis_CIP_Drive. During some of these test processes the
motion module generates output to the external drive to produce a small amount
of motion. Measurements made during some of these hookup diagnostic tests are
saved as output configuration parameters that also serve as input data for a
subsequent MAHD (Motion Apply Hookup Diagnostic) instruction. MRHD
requires only one explicit input parameter, Diagnostic Test. Enter or select the
Diagnostic Test to run and the axis to test.
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.
The MRHD instruction uses axis configuration parameters as input and output.
The input configuration parameters that MRHD uses are shown in the table
below.
Axis Parameter Data Type Units Meaning
Motor Encoder Test
Increment
Real - Distance that the Axis must travel to satisfy the
Hookup Diagnostic Test.
The axis configuration parameters that MRHD generates as output depend on the
specified Hookup Diagnostic.
Motor Encoder Hookup Test
If the Motor Encoder Test is selected, the motion module enables the external
drive and generates a 1 Volt per second output ramp to the drive while monitoring
the encoder feedback. When the axis has moved a distance greater than or equal to
the configured Motor Encoder Test Increment, the test voltage is set back to zero
and the drive disabled. The motion module then reports the direction of travel
which is stored as one of the following output parameters:
Axis Parameter Data Type Units Meaning
Test Status Integer - Status Report of the Hookup Diagnostic Test
Process.
Test Direction Forward Boolean - Direction of axis travel during hookup test as seen
by the motion module.
If due to improper hookup, or some other problem with the system, the axis
feedback fails to detect that axis reaching the configured Motor Encoder Test
Increment within 2 seconds, the servo sets the test voltage back to zero and
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