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