Rockwell Automation 193 Drives and Motion Accelerator Toolkit Quick Start - Manual (Page 217)

Rockwell Automation Publication IASIMP-QS019E-EN-P - August 2013 217
Logic Program Overview Appendix A
Device Module Control Logic Example
In this example, the R03_Control routine for a CIP motion device module initiates and/or clears the Reset and
Abort sequences. The routine also attempts to clear any active faults.
Refer to the toolkit directory C:\Program Files\RA_Simplification\DMAT\B-Files\6-Project Examples\
WidgOmatic folder for a complete example of a logic program.
MODULE COMMANDS
3 NOP
RESET
4
Machine Commands
Mach_Ctrl.Cmd.RESET
<WidgOmatic.Cmd.RESET>
ONS
ONS[0].5
Servo Ready for Use
Servo_Ctrl.Status.Ready
<Gantry_X_Axis_Ctrl.Status.Ready>
Move
Source
1
Dest ResetSEQ[0]
0
MOV
STOP
5
Machine Commands
Mach_Ctrl.Cmd.STOP
<WidgOmatic.Cmd.STOP>
Fill File
Source
0
Dest ResetSEQ[0]
Length 4
FLL
STOP
CLEAR
6
Machine Commands
Mach_Ctrl.Cmd.CLEAR
<WidgOmatic.Cmd.CLEAR>
/
Servo OK (NOT
Faulted)
Servo_Ctrl.Status.OK
<Gantry_X_Axis_Ctrl.Status.OK>
L
Clear Faults
Servo_Ctrl.Cmd.ClearFaults
<Gantry_X_Axis_Ctrl.Cmd.ClearFaults>
Module OK (NOT
Faulted)
Module.OK
<Gantry_X_Drive.OK>
Fill File
Source
0
Dest AbortSEQ[0]
Length 4
FLL
ABORT
7
Machine Commands
Mach_Ctrl.Cmd.ABORT
<WidgOmatic.Cmd.ABORT>
Module OK (NOT
Faulted)
Module.OK
<Gantry_X_Drive.OK>
ONS
ONS[0].6
/
Module OK (NOT
Faulted)
Module.OK
<Gantry_X_Drive.OK>
ONS
ONS[0].7
Fill File
Source
0
Dest ResetSEQ[0]
Length 4
FLL
Move
Source
1
Dest AbortSEQ[0]
0
MOV
(End)