Rockwell Automation 1756-L6x_L7x ControlLogix System User Manual - Manual (Page 145)

Rockwell Automation Publication 1756-UM001O-EN-P - October 2014 145
Develop Motion Applications Chapter 9
Program Motion Control The controller provides a set of motion control instructions for your axes:
• The controller uses these instructions just like the rest of the Logix5000
instructions.
• Each motion instruction works on one or more axes.
• Each motion instruction needs a motion control tag. The tag uses a
MOTION_INSTRUCTION data type and stores the information status
of the instruction.
• You can program by using motion control instructions in these
programming languages:
– Ladder Diagram (LD)
– Structured Text (ST)
– Sequential Function Chart (SFC)
Figure 26 - Motion Control Instruction
Example
In this example, a simple ladder diagram that homes, jogs, and moves an axis.
ATTENTION: Use the tag for the motion control operation of motion
instruction only once. Unintended operation of the control variables can
happen if you reuse of the same motion control tag in other instructions.
Motion Control Tag
If Initialize_Pushbutton = on and the axis = off (My_Axis_X.ServoActionStatus = off) then the MSO instruction turns on the axis.
If Home_Pushbutton = on and the axis hasn’t been homed (My_Axis_X.AxisHomedStatus = off) then the MAH instruction homes the axis.