Rockwell Automation 193 Drives and Motion Accelerator Toolkit Quick Start - Manual (Page 228)

228 Rockwell Automation Publication IASIMP-QS019E-EN-P - August 2013
Appendix B Logic Module Customization
Coordinated Reset Customization
By default, each device module is pre-programmed with reset logic that is designed to prepare the module and
the devices it contains (drives, for example) to run. For a sercos or CIP Motion axis, this might mean the reset
logic will home the axis. This approach is well suited for applications where the individual device modules reset
independently. However, some applications require multiple device modules to reset in a coordinated manner.
For example, when two or more sercos and/or CIP Motion axes are homed in sequential order to avoid
mechanical interference.
The recommended method to achieve a coordinated reset is to remove the reset-sequence logic from each of
corresponding device module R04_Reset_Abort routines and insert it into the application R04_Reset routine.
The reset logic from each device module can be blended together into a single reset sequence in the application
module. Also, your application may contain device modules that can be reset independently while others may
need a coordinated reset. In these cases, you only need to relocate the reset logic for the device modules that
require the coordinated reset.