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Motion Configuration Instructions

Chapter 5

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 333

disables the drive. The control reflects this condition through the Test Status axis

output parameter. This usually indicates that either the cabling to the drive or the

cabling to the encoder is incorrect. Running MRHD with the Encoder Hookup

Test selected is an effective method of isolating the problem to the encoder or

drive.

Encoder Hookup Test

If the Encoder Test is selected, the motion module does not generate any axis

motion, but simply monitors axis encoder feedback. The axis can then be moved

by hand or by some other independent drive actuator to generate motion. When

the motion module detects that the axis has moved a distance greater than or equal

to the configured Motor Encoder Test Increment, the test is complete. The

motion module then reports the direction of travel as one of the following

MRHD 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 the axis reaching the configured Motor Encoder Test

Increment after moving the axis at least that distance, then abort the test using the

MAS instruction and check the encoder wiring.

Marker Hookup Test

If the Marker Test is selected, the motion module does not generate any axis

motion, but simply monitors axis encoder feedback. The axis can then be moved

by hand or by some other independent drive actuator to generate motion. When

the motion module detects a marker (Channel Z) pulse, the test is then complete.

The motion module then reports success via the Test Status.