Publication 1756-UM001G-EN-P - January 2007
Develop Motion Applications 109
Program Motion Control
The controller gives you a set of motion control instructions for your
axes and:
• uses these instructions just like the rest of the Logix5000
instructions.
You can program motion control in these programming
languages:
– Ladder Diagram (LD)
– Structured Text (ST)
– Sequential Function Chart (SFC)
• 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 instruction’s
information status.
Motion Control Instruction
Example
Here’s an example of a simple ladder diagram that homes, jogs, and
moves an axis.
ATTENTION
Use the tag for the motion control operand of motion instruction
only once. Unintended operation of the control variables may
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.
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