Motion Configuration Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 335
The MRHD instruction uses the CIP axis configuration parameters as input and
output. The input configuration parameters that the MRHD uses are shown in
the table below.
Axis Parameter Data Type Units Meaning
Hookup Test Distance Real Position Units Distance that the axis must travel to satisfy the
selected hookup test process.
Hookup Test Time Real Seconds Time that the axis must continue moving to satisfy
the selected hookup test
Hookup Test Feedback
Channel
USINT - Used by the Hookup Test service when the encoder
test is selected to determine which feedback
channel to test
1 = Feedback 1
2 = Feedback 2.
The CIP axis configuration parameters that MRHD generates as output depend
on the specified Hookup Diagnostic.
Motor Encoder Hookup Test
The Motor Encoder Hookup 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 is disabled. The motion module then reports the
direction of travel that is stored as one of the following output parameters.
Axis Parameter Data Type Units Meaning
Hookup Test Status USINT - Returns the status of the last Run Hookup Test
service on the targeted drive axis. The Hookup
Test Status attribute can be used to determine
when the hookup test service has successfully
completed.
Conditions may occur, however, that make it
impossible for the drive to properly perform the
operation. When this is the case, the test process is
automatically terminated and a test error is
reported that is stored in the Hookup Test Status
output parameter.
0 = test process successful
1 = test in progress
2 = test process aborted
3 = test process timed-out
4 = test process faulted
5 = test failed - no feedback 1 counts
6 = test failed - no feedback 2 counts
7-255 = reserved
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