Allen-Bradley Studio 5000 Logix Emulate User Manual

Chapter 2
Motion Move Instructions
96 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Active Homing
When the axis Homing Mode is configured as Active, the physical axis is first
activated for servo operation. As part of this process, all other motion in process is
canceled and appropriate status bits are cleared. The axis is then homed using the
configured Home Sequence, which may be Immediate, Switch, Marker, or
Switch-Marker. The latter three Home Sequences result in the axis being jogged in
the configured Home Direction and then, after the position is re-defined based on
detection of the home event, the axis is automatically moved to the configured
Home Position.
Passive Homing
When the axis Homing Mode is configured as Passive, the MAH instruction
re-defines the actual position of a physical axis on the next occurrence of the
encoder marker. Passive homing is most commonly used to calibrate Feedback
Only axes to their markers, but can also be used on Servo axes. Passive homing is
identical to active homing to an encoder marker, except that the motion controller
does not command any axis motion.
After initiating passive homing, the axis must be moved past the encoder marker
for the homing sequence to complete properly. For closed-loop Servo axes, this
may be accomplished with a MAM or MAJ instruction. For physical Feedback
Only axes, motion cannot be commanded directly by the motion controller, and
must be accomplished via other means.
Absolute Homing
If the motion axis hardware supports an absolute feedback device, Absolute
Homing Mode may be used. The only valid Home Sequence for an absolute
Homing Mode is "immediate". In this case, the absolute homing process
establishes the true absolute position of the axis by applying the configured Home
Position to the reported position of the absolute feedback device. Prior to
execution of the absolute homing process via the MAH instruction, the axis must
be in the Axis Ready state with the servo loop disabled.
To successfully execute a MAH instruction on an axis configured for Active
homing mode, the targeted axis must be configured as a Servo Axis Type. To
successfully execute an MAH instruction, the targeted axis must be configured as
either a Servo or Feedback Only axis. If any of these conditions are not met, the
instruction errors.
Important: The instruction execution may take multiple scans to execute because it requires multiple coarse updates to
complete the request. The Done (.DN) bit is not set immediately, but only after the request is completed.
In this transitional instruction, the relay ladder, toggle the Rung-condition-in
from cleared to set each time the instruction should execute.

Allen-Bradley Studio 5000 Logix Emulate Specifications

General

Type	Emulation Software
Supported Platforms	PC
Operating System	Windows
Compatible Controllers	ControlLogix 5570, ControlLogix 5580, CompactLogix 5370, CompactLogix 5480
Integration	Integrated with Studio 5000 environment
Works with Studio 5000 Logix Designer	Yes
Programming Languages	Ladder Logic, Function Block Diagram, Structured Text, Sequential Function Chart
Communication Protocols	EtherNet/IP
Functionality	Controller Emulation
Purpose	Testing and Debugging
Use Case	Program development, testing, training, and troubleshooting without physical PLC hardware

Summary

LOGIX 5000 Controllers Motion Instructions

Motion State Instructions

Motion Axis Fault Reset (MAFR)

Use the Motion Axis Fault Reset (MAFR) instruction to clear all motion faults for an axis. This is the only method for clearing axis motion faults.

Motion Axis Shutdown (MASD)

Use the Motion Axis Shutdown (MASD) instruction to force a specified axis into the Shutdown state.

Motion Axis Shutdown Reset (MASR)

Use the Motion Axis Shutdown (MASR) instruction to transition a group of axes from the shutdown operating state to the axis ready operating state.

Motion Move Instructions

Motion Axis Stop (MAS)

Use the Motion Axis Stop (MAS) instruction to stop a specific motion process on an axis or to stop the axis completely.

Motion Axis Home (MAH)

Use the Motion Axis Home (MAH) instruction to home an axis. Two different homing modes can be selected during axis configuration: Active or Passive.

Motion Axis Jog (MAJ)

Use the Motion Axis Jog (MAJ) instruction to move an axis at a constant speed until you tell it to stop.

Motion Axis Move (MAM)

Use the Motion Axis Move (MAM) instruction to move an axis to a specified position.

Motion Axis Gear (MAG)

Motion Change Dynamics (MCD)

Use the Motion Change Dynamics (MCD) instruction to selectively change the speed, acceleration rate, or deceleration rate of a move profile or a jog profile in process.

Motion Redefine Position (MRP)

Motion Calculate Cam Profile (MCCP)

The Motion Calculate Cam Profile (MCCP) instruction calculates a cam profile based on an array of cam points.

Motion Calculate Slave Values (MCSV)

Motion Axis Position Cam (MAPC)

The Motion Axis Position Cam (MAPC) instruction provides electronic camming between any two axes according to the specified Cam Profile.

Motion Axis Time Cam (MATC)

The Motion Axis Time Cam (MATC) instruction provides electronic camming of an axis as a function of time, according to the specified Cam Profile.

Motion Group Instructions

Motion Group Stop (MGS)

The Motion Group Stop (MGS) instruction initiates a stop of all motion in progress on all axes in the specified group by a method configured individually for each axis or as a group via the Stop Mode of the MGS instruction.

Motion Group Shutdown (MGSD)

Use the Motion Group Shutdown (MGSD) instruction to force all axes in the designated group into a Shutdown state.

Motion Group Shutdown Reset (MGSR)

Use the Motion Group Shutdown Reset (MGSR) instruction to transition a group of axes from the shutdown operating state to the axis ready operating state.

Motion Event Instructions

Motion Arm Watch (MAW)

Motion Arm Registration (MAR)

Motion Arm Output Cam (MAOC)

Motion Configuration Instructions

Motion Apply Axis Tuning (MAAT)

Motion Run Axis Tuning (MRAT)

Motion Apply Hookup Diagnostics (MAHD)

Motion Run Hookup Diagnostics (MRHD)

Multi-Axis Coordinated Motion Instructions

Motion Coordinated Linear Move (MCLM)

Use the MCLM instruction to start a single or multi-dimensional linear coordinated move for the specified axes within a Cartesian coordinate system.

Motion Coordinated Circular Move (MCCM)

Use the MCCM instruction to initiate a two or three-dimensional circular coordinated move for the specified axes within a Cartesian coordinate system.

Motion Coordinated Change Dynamics (MCCD)

Motion Coordinated Shutdown (MCSD)

Motion Coordinated Shutdown Reset (MCSR)

Motion Coordinated Stop (MCS)

Motion Coordinated Transform (MCT)

Motion Calculate Transform Position (MCTP)

Motion Coordinated Path Move (MCPM)

Motion Coordinated Transform with Orientation (MCTO)

Motion Error Codes, faults, and attributes

Handle Motion Faults

Understand Motion Status and Configuration Parameters

Troubleshoot Axis Motion

Overview of motion-related data types

CAM Structure

CAM_PROFILE Structure

Overview of Structured Text Programming

Structured Text Syntax

Common attributes for Motion instructions