Behavior models used in CIP Motion
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 45
Attribute Changes
A Motion Resolution or an Axis Feedback Polarity attribute has been changed and
downloaded to the controller. This can also happen during the execution of an
SSV.
Axis Feedback Changes
The feedback device has been replaced. This creates an Axis Feedback Serial
Number mismatch.
Axis Feedback Mode has changed, for example, axis with feedback changed to axis
without feedback or vice versa and downloaded to the controller.
• A user program is downloaded.
• A user program and tags are restored from CompactFlash card.
• Manual Restore
• Power up restore, when configured
• Firmware is updated using ControlFLASH.
• An SSV to change:
• Feedback Polarity or
• One of the attributes which results in a change to the Motion
Resolution attribute.
See also
APR Fault Generation on page 45
APR Fault Attributes on page 279
APR Faults can be generated:
• During initial axis configuration.
• During operation
• When the system fails to recover the absolute position after a power cycle,
reset, or a reconnection.
APR faults are detected during these online scenarios.
• Initial configuration (download)
• Reconnection of the drive axis
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