Behavior models used in CIP Motion
48 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Online Scaling
Any change or SSV message that results in a motion resolution change will
generate an APR fault.
See also
Resetting APR Faults on page 50
Absolute Position Loss without APR Faults on page 44
APR Recovery Scenarios on page 48
The following tables provide detailed information on when the APR feature
recovers absolute position. The following assumptions need to be taken into
consideration. In each of these cases, the APR feature restores absolute position
and preserves the state of the Axis Homed bit, indicating that the axis has a
machine referenced absolute position.
• All relevant axes are CIP axes.
• Yes, machine reference is recovered (for Axes that have been homed).
• No, machine reference is not recovered (for Axes that have been homed).
Scenario Event Machine Reference
Retained
Controller Battery
(1)
Yes
Controller Power Cycle with Battery Yes
Controller Removal/Insertion Under Power (RIUP) with Battery Yes
Controller Firmware Update Yes
Controller CompactFlash Update Yes
Controller Swap (Same CF Card) Yes
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