Allen-Bradley 1756 ControlLogix User manual

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

Table of contents
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 11
Motion Run Hookup Diagnostics (MRHD).....................................................330
MRHD Flow Chart (True) ...................................................................................343
Modify Motion Configuration Parameters ................................................................344
Chapter 6
Multi-Axis Coordinated Motion Instructions...........................................................345
Master Driven Coordinated Control (MDCC) ...............................................354
Motion Calculate Transform Position (MCTP) ..............................................361
Motion Coordinated Transform with Orientation (MCTO).......................367
Motion Coordinated Path Move (MCPM) .......................................................377
Motion Coordinated Change Dynamics (MCCD) .........................................392
Motion Calculate Transform Position with Orientation (MCTPO) ..........406
Motion Coordinated Circular Move (MCCM) ...............................................414
Motion Coordinated Linear Move (MCLM)....................................................437
Motion Coordinated Shutdown (MCSD).........................................................458
Motion Coordinated Shutdown Reset (MCSR)...............................................462
Motion Coordinated Stop (MCS) .......................................................................465
Motion Coordinated Transform (MCT)...........................................................476
Speed, acceleration, deceleration, and jerk enumerations for coordinated
motion ........................................................................................................................489
Returned Calculated Data Parameter for Coordinated System Motion
Instruction .................................................................................................................494
Status Bits for Motion Instructions (MCLM, MCCM) when MDCC Is
Active..........................................................................................................................496
Change between master driven and time driven modes for Coordinated
Motion instructions.................................................................................................499
Choose a Termination Type..................................................................................500
Common Action Table for Slave Coordinate System and Master Axis .......509
Input and Output Parameters Structure for Coordinate System Motion
Instructions................................................................................................................511
Returned Calculated Data Parameter for Coordinated System Motion
Instruction .................................................................................................................519
Chapter 7
Master Driven Axis Control (MDAC) .......................................................................521
Changing Between Master Driven and Time Driven Modes for Single Axis
Motion Instructions ........................................................................................................529
Common Action Table for Slave and Master Axis ...................................................531
Input and Output Parameters Structure for Single Axis Motion Instructions ...533
Speed, Acceleration, Deceleration, and Jerk Enumerations ....................................538
Time Based Planning.......................................................................................................546
Status Bits for Motion Instructions (MAM, MATC, MAJ) When MDAC Is
Active..................................................................................................................................550
Multi-Axis Coordinated
Motion Instructions
MDSC Functionality

Table of contents
12 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Chapter 8
Definition of Jerk .............................................................................................................551
Choose a Profile................................................................................................................551
Velocity Profile Effects....................................................................................................553
Tune an S-Curve Profile.................................................................................................553
Chapter 9
Motion Error Codes (.ERR)..........................................................................................557
Handle Motion Faults.....................................................................................................568
Motion Attributes............................................................................................................569
Understand Motion Status and Configuration Parameters....................................608
Troubleshoot Axis Motion ............................................................................................608
Chapter 10
CAM Structure.................................................................................................................627
CAM_PROFILE Structure ...........................................................................................627
MOTION_GROUP Structure ....................................................................................628
MOTION_INSTRUCTION Data Type .................................................................630
OUTPUT_CAM Structure..........................................................................................632
OUTPUT_COMPENSATION Structure...............................................................633
Chapter 11
Structured Text Syntax ...................................................................................................635
Structured Text Components: Assignments..............................................................636
Structured Text Components: Expressions................................................................638
Use arithmetic operators and functions ......................................................................640
Use relational operators ..................................................................................................641
Use logical operators........................................................................................................642
Use bitwise operators.......................................................................................................643
Determine the order of execution.................................................................................644
Structured Text Components: Instructions...............................................................644
Structured Text Components: Constructs.................................................................645
Character string literals...................................................................................................646
IF_THEN..........................................................................................................................648
CASE_OF .........................................................................................................................651
FOR_DO...........................................................................................................................653
WHILE_DO ....................................................................................................................655
REPEAT_UNTIL...........................................................................................................658
Structured Text Components: Comments ................................................................660
Program a velocity profile
and jerk rate and tune an
S-Curve Profile
Motion Error Codes, faults,
and attributes
Overview of motion-related
data types
Overview of Structured Text
Programming

Table of contents
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 13
Chapter 12
Common Attributes........................................................................................................663
Index Through Arrays.....................................................................................................663
Immediate values..............................................................................................................664
Floating Point Values ......................................................................................................664
LINT data types ...............................................................................................................666
Data Types.........................................................................................................................667
Data Conversions.............................................................................................................669
Math Status Flags .............................................................................................................673
Common attributes for
Motion instructions
Index

Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 15
Preface
This manual provides a programmer with details about the available General,
Motion, Process, and Drives instruction set for a Logix-based controller.
If you design, program, or troubleshoot safety applications that use GuardLogix
controllers, refer to the GuardLogix Safety Application Instruction Set Safety
Reference Manual , publication 1756-RM095 .
This manual is one of a set of related manuals that show common procedures for
programming and operating Logix 5000™ controllers.
For a complete list of common procedures manuals, refer to the Logix 5000
Controllers Common Procedures Programming Manual , publication
1756-PM001 .
The term Logix 5000 controller refers to any controller that is based on the Logix
5000 operating system.
The Studio 5000 Automation Engineering & Design Environment® combines
engineering and design elements into a common environment. The first element is
the Studio 5000 Logix Designer® application. The Logix Designer application is
the rebranding of RSLogix 5000® software and will continue to be the product to
program Logix 5000™ controllers for discrete, process, batch, motion, safety, and
drive-based solutions.
The Studio 5000® environment is the foundation for the future of
Rockwell Automation® engineering design tools and capabilities. The Studio 5000
environment is the one place for design engineers to develop all elements of their
control system.
Studio 5000 environment

Preface
16 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
These documents contain additional information concerning related Rockwell
Automation products.
Resource Description
Industrial Automation Wiring and Grounding Guidelines ,
publication 1770-4.1
Provides general guidelines for installinga Rockwell
Automation industrial system.
Product Certifications webpage, available at
http://ab.rockwellautomation.com
Provides declarations of conformity, certificates, and other
certification details.
You can view or download publications at
http://www.rockwellautomation.com/literature . To order paper copies of
technical documentation, contact your local Rockwell Automation distributor or
sales representative.
Copyright Notice
Copyright © 2018 Rockwell Automation Technologies, Inc. All Rights Reserved.
Printed in USA.
This document and any accompanying Rockwell Software products are
copyrighted by Rockwell Automation Technologies, Inc. Any reproduction
and/or distribution without prior written consent from Rockwell Automation
Technologies, Inc. is strictly prohibited. Please refer to the license agreement for
details.
End User License Agreement (EULA)
You can view the Rockwell Automation End-User License Agreement ("EULA")
by opening the License.rtf file located in your product's install folder on your hard
drive.
Other Licenses
Botan (http://botan.randombit.net/ ) is distributed under these terms:
Copyright (C) 1999-2013, 2014 Jack Lloyd
2001 Peter J Jones
2004-2007 Justin Karneges
2004 Vaclav Ovsik
2005 Matthew Gregan
2005-2006 Matt Johnston
2006 Luca Piccarreta
2007 Yves Jerschow
2007-2008 FlexSecure GmbH
2007-2008 Technische Universitat Darmstadt
2007-2008 Falko Strenzke
Additional resources
Legal Notices

Preface
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 17
2007-2008 Martin Doering
2007 Manuel Hartl
2007 Christoph Ludwig
2007 Patrick Sona
2010 Olivier de Gaalon
2012 Vojtech Kral
2012 Markus Wanner
2013 Joel Low
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
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http://www.opensource.org/licenses/MIT .

Preface
18 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
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https://olex-secure.openlogic.com/licenses/gpl-serverhandler-exception .
Copyright (C) 1989, 1991 Free Software Foundation, Inc.
GNU Lesser General Public License v3.0, the text of which is available at
http://www.gnu.org/licenses/lgpl-3.0-standalone.html . Copyright © 2007 Free
Software Foundation, Inc.
Creative Commons Attribution 3.0, the text of which is available at
http://creativecommons.org/licenses/by/3.0/legalcode .
Independent JPEG Group License, the text of which is available at
https://olex-secure.openlogic.com/licenses/ijg-license .

Preface
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 19
Boost Software License 1.0, and BSD 3-clause (University of California Regents),
the text of which is available at http://www.boost.org/LICENSE_1_0.txt .
The package Newlib is licensed under the following licenses:
GNU General Public License v2.0 w/Autoconf exception, the text of which is
available at http://spdx.org/licenses/GPL-2.0-with-autoconf-exception .
Copyright (C) 1989, 1991 Free Software Foundation, Inc.
GNU General Public License v3.0 w/Autoconf exception, the text of which is
available at http://spdx.org/licenses/GPL-3.0-with-autoconf-exception .
Copyright © 2009 Free Software Foundation, Inc.
OpenSSL distributed under these terms:
Copyright (c) 1998-2017 The OpenSSL Project. All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. All advertising materials mentioning features or use of this software must
display the following acknowledgment: "This product includes software
developed by the OpenSSL Project for use in the OpenSSL Toolkit.
(http://www.openssl.org/)"
4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
endorse or promote products derived from this software without prior
written permission. For written permission, please contact
openssl-[email protected].
5. Products derived from this software may not be called "OpenSSL" nor may
"OpenSSL" appear in their names without prior written permission of the
OpenSSL Project.
6. Redistributions of any form whatsoever must retain the following
acknowledgment: "This product includes software developed by the
OpenSSL Project for use in the OpenSSL Toolkit
(http://www.openssl.org/)"
THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT "AS IS''
AND ANY EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT

Preface
20 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
NOT LIMITED TO, THE IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE OpenSSL PROJECT OR
ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN
IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
=================================================
===================
This product includes cryptographic software written by Eric Young
([email protected]). This product includes software written by Tim Hudson
([email protected]).
/
Original SSLeay License
-----------------------
/Copyright (C) 1995-1998 Eric Young ([email protected])
All rights reserved.
This package is an SSL implementation written by Eric Young
([email protected]).
The implementation was written so as to conform with Netscapes SSL.
This library is free for commercial and non-commercial use as long as the
following conditions are adhered to. The following conditions apply to all code
found in this distribution, be it the RC4, RSA, lhash, DES, etc., code; not just the
SSL code. The SSL documentation included with this distribution is covered by
the same copyright terms except that the holder is Tim Hudson
([email protected]).
Copyright remains Eric Young's, and as such any Copyright notices in the code are
not to be removed.
If this package is used in a product, Eric Young should be given attribution as the
author of the parts of the library used. This can be in the form of a textual message
at program startup or in documentation (online or textual) provided with the
package.