Rockwell Automation 193 Drives and Motion Accelerator Toolkit Quick Start - Manual (Page 220)

220 Rockwell Automation Publication IASIMP-QS019E-EN-P - August 2013
Appendix B Logic Module Customization
The application and device modules interact with the state machine via their R02_Monitor and R03_Control
routines.
For example, the device modules accept commands and react accordingly. Therefore, changes to the state
machine can impact the individual application and device modules. Refer to Appendix A, Logic Program
Overview, on
page 203 , for more information on the state machine and how it interacts with the application and
device modules.
The core for the state machine is built around the
UDT_MachCtrl data type.
The UDT_MachCtrl data type consists of three
sub data-types that directly impact the state
machine.
• Mode = UDT_MachMode
• Command = UDT_MachCmd
• State = UDT_MachState