Allen-Bradley 1756 ControlLogix Bedienungsanleitung

Reference Manual

LOGIX 5000 Controllers Motion Instructions

1756 ControlLogix, 1756 GuardLogix, 1769 CompactLogix, 1769 Compact GuardLogix, 1789

SoftLogix, 5069 CompactLogix, 5069 Compact GuardLogix, Studio 5000 Logix Emulate

Important user information

Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment

before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions

in addition to requirements of all applicable codes, laws, and standards.

Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by

suitably trained personnel in accordance with applicable code of practice. If this equipment is used in a manner not specified by the manufacturer,

the protection provided by the equipment may be impaired.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this

equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated

with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and

diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this

manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to

personal injury or death, property damage, or economic loss.

ATTENTION: Identifies information about practicesor circumstancesthat can lead to personal injury or death, property damage, or economic

loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence

Important: Identifies information that iscriticalforsuccessful application and understanding of the product.

Labels may also be on or inside the equipment to provide specific precautions.

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, toalertpeoplethat dangerous voltage may be

present.

BURN HAZARD: Labels may be on or insidethe equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous

temperatures.

ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc

Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). FollowALL Regulatory requirements for safe work

practices and for Personal Protective Equipment (PPE).

Allen-Bradley, Rockwell Software, Rockwell Automation, and TechConnect are trademarks of Rockwell Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 3

Summaryofchanges

This manual includes new and updated information. Use these reference tables to

locate changed information.

Global changes

This table identifies changes that apply to all information about a subject in the

manual and the reason for the change. For example, the addition of new supported

hardware, a software design change, or additional reference material would result

in changes to all of the topics that deal with that subject.

Subject Reason

All instruction topics. Added new safety controllers 5580 and 5380 to the list of

applicable controllers.

All instruction topics Updated the Ladder Diagram, Reset Signal, and Example

images to reflect the updated user interface.

All instruction topics In the Major/Minor Faults and See also section, replaced the

Common Attributes cross reference with a new cross

reference to the Index Through Arrays topic.

All instruction chapter title topics Added new link table with links to eachinstruction in the

chapter.

Topic Name Reason

Motion Axis Stop (MAS) on page 84 Updated the programming guidelines section with new

paragraph explaining using MAS on any axis associated

with a coordinate system.

Motion Direct Drive Off (MDF) on page 51 Updated the programming guidelines section with new

paragraph explaining using MAS on any axis associated

with a coordinate system.

Motion Axis Jog (MAJ) on page 101 Updated the programming guidelines section with new

paragraph explaining using MAS on any axis associated

with a coordinate system.

Motion Axis Move (MAM) on page 112 Updated the programming guidelines section with new

paragraph explaining using MAS on any axis associated

with a coordinate system.

Motion Run Hookup Diagnostic (MRHD) on page

330

Updated the flow chart

Master Driven Coordinated Control (MDCC) on page

354

Updated the description for the Nominal Master Velocity

operand.

Motion Coordinated Stop (MCS) on page 465 Updated the descriptions for the Decel Units and Jerk Units

operands.

Motion Coordinated Transform with Orientation

(MCTO) on page 367

New instruction

Summary of changes

4Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018

Topic Name Reason

Motion Coordinated Path Move (MCPM) on page

377

New instruction

Motion Calculate Transform Position with

Orientation (MCTPO)on page 406

New instruction

Motion Error Codes on page 557 Added new error codes

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 5

InstructionLocator

Use this locator to find the applicable Logix5000 controllers instruction manual

for each instruction.

Logix5000 Controllers General Instructions

Reference Manual 1756-RM003 Logix5000 Controllers Advanced Process

Control and Drives and Equipment Phase

and Sequence Instructions Reference

Manual 1756-RM006

Logix5000 Controllers Motion Instructions

Reference Manual MOTION-RM002

Absolute Value (ABS) Alarm (ALM) Master Driven Coordinated Control (MDCC)

Add (ADD) Attach to Equipment Phase (PATT) Motion Apply Axis Tuning (MAAT)

Analog Alarm (ALMA) Attach to Equipment Sequence (SATT) Motion Apply Hookup Diagnostics (MAHD)

Always False (AFI) Coordinated Control (CC) Motion Arm Output Cam (MAOC)

Arc Cosine (ACS, ACOS) D Flip-Flop (DFF) Motion Arm Registration (MAR)

Arc Sine (ASN, ASIN) Deadtime (DEDT) Motion Arm Watch (MAW)

Arc Tangent (ATN, ATAN) Derivative (DERV) Motion Axis Fault Reset (MAFR)

ASCII Chars in Buffer (ACB) Detach from Equipment Phase (PDET) Motion Axis Gear (MAG)

ASCII Clear Buffer (ACL) Detach from Equipment Sequence (SDET) Motion Axis Home (MAH)

ASCII Handshake Lines (AHL) Discrete 3-State Device (D3SD) Motion Axis Jog (MAJ)

ASCII Read (ARD) Discrete 2-State Device (D2SD) Motion Axis Move (MAM)

ASCII Read Line (ARL) Enhanced PID (PIDE) Motion Axis Position Cam (MAPC)

ASCII Test for Buffer Line (ABL) Enhanced Select (ESEL) Motion Axis Stop (MAS)

ASCII Write (AWT) Equipment Phase Clear Failure (PCLF) Motion Axis Time Cam (MATC)

ASCII Write Append (AWA) Equipment Phase Command (PCMD) Motion Axis Shutdown (MASD)

Bit Field Distribute (BTD) Equipment Phase External Request (PXRQ) Motion Axis Shutdown Reset (MASR)

Bit Field Distribute with Target (BTDT) Equipment Phase Failure (PFL) Motion Calculate Cam Profile (MCCP)

Bit Shift Left (BSL) Equipment Phase New Parameters (PRNP) Motion Coordinated Path Move (MCPM)

Bit Shift Right (BSR) Equipment Phase Override Command (POVR) Motion Calculate Slave Values (MCSV)

Bitwise And (AND) Equipment Phase Paused (PPD) Motion Coordinated Transform with Orientation

(MCTO)

Bitwise (NOT) Equipment Sequence Assign Sequence Identifier

(SASI)

Motion Calculate Transform Position (MCTP)

Bitwise (OR) Equipment Sequence Clear Failure (SCLF) Motion Calculate Transform Position with

Orientation (MCTPO)

Boolean AND (BAND) Equipment Sequence command (SCMD) Motion Change Dynamics (MCD)

Boolean Exclusive OR (BXOR) Equipment Sequence Override (SOVR) Motion Coordinated Change Dynamics (MCCD)

Boolean NOT (BNOT) Function Generator (FGEN) Motion Coordinated Circular Move (MCCM)

Boolean OR (BOR) High Pass Filter (HPF) Motion Coordinated Linear Move (MCLM)

Break (BRK) High/Low Limit (HLL) Motion Coordinated Shutdown (MCSD)

Breakpoints (BPT) Integrator (INTG) Motion Coordinated Shutdown Reset (MCSR)

Clear (CLR) Internal Model Control (IMC) Motion Coordinated Stop (MCS)

Compare (CMP) JK Flip-Flop (JKFF) Motion Coordinated Transform (MCT)

Instruction Locator

6Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018

Logix5000 Controllers General Instructions

Reference Manual 1756-RM003

Logix5000 Controllers Advanced Process

Control and Drives and Equipment Phase

and Sequence Instructions Reference

Manual 1756-RM006

Logix5000 Controllers Motion Instructions

Reference Manual MOTION-RM002

Convert to BCD (TOD) Lead-Lag (LDLG) Motion Direct Drive Off (MDF)

Convert to Integer (FRD) Low Pass Filter (LPF) Motion Direct Drive On (MDO)

Copy File (COP), Synchronous Copy File (CPS) Maximum Capture (MAXC) Motion Direct Start (MDS)

Cosine (COS) Minimum Capture (MINC) Motion Disarm Output Cam (MDOC)

Compute (CPT) Modular Multivariable Control (MMC) Motion Disarm Registration (MDR)

Count down (CTD) Moving Average (MAVE) Motion Disarm Watch (MDW)

Count up (CTU) Moving Standard Deviation (MSTD) Motion Group Shutdown (MGSD)

Count up/down CTUD Multiplexer (MUX) Motion Group Shutdown Reset (MGSR)

Data Transition (DTR) Notch Filter (NTCH) Motion Group Stop (MGS)

Degrees (DEG) Phase State Complete (PSC) Motion Group Strobe Position (MGSP)

Diagnostic Detect (DDT) Position Proportional (POSP) Motion Redefine Position (MRP)

Digital Alarm (ALMD) Proportional + Integral (PI) Motion Run Axis Tuning (MRAT)

DINT To String (DTOS) Pulse Multiplier (PMUL) Motion Run Hookup Diagnostics (MRHD)

Divide (DIV) Ramp/Soak (RMPS) Motion Servo Off (MSF)

End of Transition (EOT) Rate Limiter (RLIM) Motion Servo On (MSO)

Equal to (EQU) Reset Dominant (RESD)

File Arithmetic (FAL) Scale (SCL)

File Bit Comparison (FBC) S-Curve (SCRV)

FIFO Load (FFL) Second-Order Controller (SOC)

FIFO Unload (FFU) Second-Order Lead Lag (LDL2)

File Average (AVE) Select (SEL)

File Standard Deviation (STD) Selected Negate (SNEG)

File Fill (FLL) Selected Summer (SSUM)

File Sort (SRT) Set Dominant (SETD)

Find String (FIND) Split Range Time Proportional (SRTP)

For (FOR) Totalizer (TOT)

File Search and Compare (FSC) Up/Down Accumulator (UPDN)

Get System Value (GSV) and Set System Value

(SST)

Greater Than or Equal to (GEQ)

Greater than (GRT)

Insert String (INSERT)

Immediate Output (IOT)

Jump to Label (JMP) and Label (LBL)

Jump to Subroutine (JSR), Subroutine (SBR), and

Return (RET)

Jump to External Routine (JXR)

Less Than (LES)

Instruction Locator

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 7

Logix5000 Controllers General Instructions

Reference Manual 1756-RM003

Logix5000 Controllers Advanced Process

Control and Drives and Equipment Phase

and Sequence Instructions Reference

Manual 1756-RM006

Logix5000 Controllers Motion Instructions

Reference Manual MOTION-RM002

Less Than or Equal to (LEQ)

LIFO Load (LFL)

LIFO Unload (LFU)

License Validation (LV)

Limit (LIM)

Log Base (LOG)

Lower to Case (LOWER)

Masked Move (MVM)

Masked Move with Target (MVMT)

Master Control Reset (MCR)

Masked Equal to (MEQ)

Message (MSG)

Middle String (MID)

Modulo (MOD)

Move (MOV)

Multiply (MUL)

Natural Log (LN)

Negate (NEG)

Not Equal to (NEQ)

No Operation (NOP)

One Shot (ONS)

One Shot Falling (OSF)

One Shot Falling withInput (OSFI)

One Shot Rising (OSR)

One Shot Rising with Input (OSRI)

Output Energize (OTE)

Output Latch (OTL)

Output Unlatch (OTU)

Proportional Integral Derivative (PID)

Radian (RAD)

Real to String (RTOS)

Reset (RES)

Reset SFC (SFR)

Return (RET)

Retentive Timer On (RTO)

Retentive Timer On with Reset (RTOR)

Pause SFC (SFP)

Size In Elements (SIZE)

Sequencer Input (SQI)

Instruction Locator

8Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018

Logix5000 Controllers General Instructions

Reference Manual 1756-RM003

Logix5000 Controllers Advanced Process

Control and Drives and Equipment Phase

and Sequence Instructions Reference

Manual 1756-RM006

Logix5000 Controllers Motion Instructions

Reference Manual MOTION-RM002

Sequencer Load (SQL)

Sequencer Output (SQO)

Sine (SIN)

Square Roost (SQR/SQRT)

String Concatenate (CONCAT)

String Delete (DELETE)

String to DINT (STOD)

String to REAL (STOR)

Swap Byte (SWPB)

Subtract (SUB)

Tangent (TAN)

Timer Off Delay (TOF)

Timer Off Delay with Reset (TOFR)

Timer On Delay (TON)

Timer On Delay with Reset (TONR)

Temporary End (TND)

Tracepoints (TPT)

Trigger Event Task (EVENT)

Truncate (TRN)

Unknown Instruction (UNK)

Upper Case (UPPER)

User Interrupt Disable (UID)/User Interrupt Enable

(UIE)

X to the Power of Y (XPY)

Examine if Closed (XIC)

Examine If Open (XIO)

Bitwise Exclusive (XOR)

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 9

Tableof contents

Studio 5000 environment................................................................................................. 15

Additional resources.......................................................................................................... 16

Legal Notices.......................................................................................................................16

Understand Instruction Timing ..................................................................................... 23

Immediate Type Instructions .......................................................................................... 23

Message Type Instructions...............................................................................................24

Process Type Instructions.................................................................................................25

Write a Motion Application Program........................................................................... 27

Chapter 1

Motion State Instructions ................................................................................................29

Motion Axis Fault Reset (MAFR).......................................................................... 35

MAFR Flow Chart (True) .......................................................................................39

Motion Axis Shutdown (MASD)........................................................................... 40

MASD Flow Chart (True).......................................................................................45

Motion Axis Shutdown Reset (MASR)................................................................. 45

MASR Flow Chart (True) .......................................................................................50

Motion Direct Drive Off (MDF) ........................................................................... 51

MDF Flow Chart (True).......................................................................................... 55

Motion Direct Drive On (MDO) .......................................................................... 56

MDO Flow Chart (True).........................................................................................62

Motion Drive Start (MDS)...................................................................................... 63

Motion Servo Off (MSF).......................................................................................... 71

MSF Flow Chart (True) ...........................................................................................76

Motion Servo On (MSO)......................................................................................... 77

MSO Flow Chart (True).......................................................................................... 81

Chapter 2

Motion Move Instructions............................................................................................... 83

Motion Axis Stop (MAS)......................................................................................... 84

Motion Axis Home (MAH) .................................................................................... 93

MAH Flow Chart (True).......................................................................................100

Motion Axis Jog (MAJ) ..........................................................................................101

Motion Axis Move (MAM)...................................................................................112

Motion Axis Gear (MAG) .....................................................................................125

MAG Flow Chart (True) .......................................................................................137

Motion Change Dynamics (MCD) .....................................................................138

MCD Flow Chart (True).......................................................................................148

Motion Redefine Position (MRP)........................................................................149

MRP Flow Chart (True) ........................................................................................155

Motion Calculate Cam Profile (MCCP)............................................................156

Preface

Motion State Instructions

Motion Move Instructions

Table of contents

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

Motion Calculate Slave Values (MCSV).............................................................163

Motion Axis Position Cam (MAPC) ..................................................................166

MAPC Flow Chart (True).....................................................................................190

Motion Axis Time Cam (MATC) .......................................................................191

MATC Flow Chart (True)....................................................................................209

Chapter 3

Motion Group Instructions...........................................................................................211

Motion Group Stop (MGS)...................................................................................212

MGS Flow Chart (True) ........................................................................................219

Motion Group Shutdown (MGSD) ....................................................................220

MGSD Flow Chart (True).....................................................................................225

Motion Group Shutdown Reset (MGSR) ..........................................................226

MGSR Flow Chart (True) .....................................................................................229

Motion Group Strobe Position (MGSP) ............................................................230

MGSP Flow Chart (True)......................................................................................233

Chapter 4

Motion Event Instructions.............................................................................................235

Motion Arm Watch (MAW)................................................................................236

MAW Flow Chart (True)......................................................................................242

Understand a Programming example...................................................................243

Motion Disarm Watch (MDW)...........................................................................243

MDW Flow Chart (True)......................................................................................248

Motion Arm Registration (MAR)........................................................................249

MAR Flow Chart (True)........................................................................................257

Motion Disarm Registration (MDR) ..................................................................258

Motion Arm Output Cam (MAOC)..................................................................262

Scheduled Output Module.....................................................................................282

Specifying the Output Cam ...................................................................................289

Specifying Output Compensation........................................................................293

MAOC Flow Chart (True)....................................................................................297

Motion Disarm Output Cam (MDOC).............................................................298

MDOC Flow Chart (True) ...................................................................................303

Chapter 5

Motion Configuration Instructions.............................................................................305

Motion Apply Axis Tuning (MAAT) .................................................................306

MAAT Flow Chart (True) ....................................................................................313

Motion Run Axis Tuning (MRAT).....................................................................313

MRAT Flow Chart (True).....................................................................................323

Motion Apply Hookup Diagnostics (MAHD).................................................324

MAHD Flow Chart (True) ...................................................................................329

Motion Group Instructions

Motion Event Instructions

Motion Configuration

Instructions

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