Rockwell Automation 193 Drives and Motion Accelerator Toolkit Quick Start - Manual (Page 207)

Rockwell Automation Publication IASIMP-QS019E-EN-P - August 2013 207
Logic Program Overview Appendix A
Kinetix 300
R00_Main Dispatch routine, calls all of the other routines in the program.
R01_PowerUP Initializes parameters following power up or controller first scan.
R02_Monitor
• Summarizes the status for the device module (for example, OK, Ready, Reset).
• Detects module faults (for example, Failed to RESET, Failed to CLEAR, Module Not Ready).
• Contains the faceplate add-on instruction (AOI) for the HMI terminal faceplate.
R03_Control
Receives machine commands and initiates the corresponding sequences (for example, RESET and ABORT
sequences)
R04_Reset_Abort
• Contains the RESET sequence logic, used to prepare the application to run.
• Contains the ABORT sequence which makes sure that the drives contained within the module are
stopped and disabled. The ABORT sequence also makes sure that other devices are placed into a
desired state.
R06_Messaging Contains all of the explicit messaging logic required for the Kinetix 300 drive.
R10_EnableDisable Contains the enable, disable, clear faults logic for the Kinetix 300 drive.
R11_OperatorMode
Contains the Operator or manual mode logic for the Kinetix 300 drive. This logic is initiated via requests
made from drive faceplate located on the HMI terminal.
Sercos
or
CIP Motion
R00_Main Dispatch routine, calls all of the other routines in the program.
R01_PowerUP Initializes parameters following power up or controller first scan.
R02_Monitor
• Summarizes the status for the device module (for example, OK, Ready, Reset).
• Detects module faults (for example, Failed to RESET, Failed to CLEAR, Module Not Ready).
• Contains the faceplate add-on instruction (AOI) for the HMI terminal faceplate.
R03_Control
Receives machine commands and initiates the corresponding sequences (for example, RESET and ABORT
sequences)
R04_Reset_Abort
• Contains the RESET sequence logic, used to prepare the application to run.
• Contains the ABORT sequence which ensures that the drives contained within the module are stopped
and disabled. The ABORT sequence can also make sure that other devices are placed into a desired
state.
R10_EnableDisable Contains the enable, disable, clear faults logic for the drives.
R11_OperatorMode
Contains the Operator or Manual mode logic for the drive. This logic is initiated via requests made from
drive faceplate located on the HMI terminal.
Module Routine Overview (continued)
Logic Module Type Routine Function