Motion Configuration Instructions
336 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Hookup Test Feedback
Direction 1
USINT - Reports the direction of axis travel during the last
hookup test, as detected by the drive's feedback 1
device.
0 = The drive’s feedback 1 device detected a
positive direction, that is, increasing counts.
1 = The drive’s feedback 1 device detected a
negative direction, that is, decreasing counts.
2-255 = reserved
The value for Hookup Test Feedback 1 Direction, as
determined by the hookup test, does not depend
on the current feedback, motor, or motion polarity
attribute configuration. This value, combined with
the user’s definition of forward direction, can be
used to configure the various polarity attributes for
the correct directional sense.
Hookup Test Feedback
Direction 2
USINT - Reports the direction of axis travel during the last
hookup test, as detected by the drive's feedback 2
device.
0 = The drive’s feedback 2 device detected a
positive direction, that is, increasing counts.
1 = The drive’s feedback 2 device detected a
negative direction, that is, decreasing counts.
2-255 = reserved
The value for Hookup Test Feedback 2 Direction, as
determined by the hookup test, does not depend
on the current feedback, motor, or motion polarity
attribute configuration. This value, combined with
the user’s definition of forward direction, can be
used to configure the various polarity attributes for
the correct directional sense.
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 within 2 seconds, the servo sets the test voltage back to zero and
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:
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