Rockwell Automation 2098 CompactLogix Indexing Motion Accelerator Toolkit Quick Start - Manual (Page 102)

102 Publication IASIMP-QS011B-EN-P — January 2009
Appendix A CompactLogix Base Program Overview
3. Replace rungs 2 and 3 of the R06_AutoMotion routine with code that signifies your axes are
ready for the Running state of your automatic cycle.
These rungs can also be replaced with an MOV instruction that simply increments each
Servo_DATA.RunSEQ[0] register to a value of 100, which signifies that the axis is ready for the
automatic cycle.
4. You may also choose to place your automatic cycle code in a new program or routine.
You can even paste an existing program into the T00_Main task or a routine into the
P00_Control program.
TIP
Handshake the appropriate machine state tags (Idle, Running, or Stopped, for example) or machine
condition tags (from the GenericMachine_COND) with your existing code as needed.
This routine currently
commands a jog
instruction on each axis
for the Running state of
the automatic cycle.
Place or create your application
code in a program or routine here.