266 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019
Chapter 12 Homing
Controller and drives remained powered Event Machine Reference Retained
Disconnect and reconnect the Ethernet cable. Yes
Disconnect and reconnect the same feedback and/or motor cable on an axis. Yes
Inhibit or uninhibit an axis or drive. Yes
Battery backed controller Event Machine Reference Retained
Save to a memory card with a homed axis and you initiate the restore. Yes
RIUP controller. Yes
Cycle power-on controller. Yes
Cycle power-on controller that is configured to restore user program from a
memory card on power-up.
Yes
RAM memory becomes corrupt and the user program is restored from the
memory card. The machine must be referenced again if RAM memory becomes
corrupt. There is no way to retrieve the machine reference positions from a
memory card after machine memory becomes corrupt.
No
User program that runs with a homed axis and you manually restore the user
program from a memory card.
If you reset the machine reference by using MAH or MRP after storing the user
program to a memory card, the MAH and MRP changes are not lost. The APR is
not restored to the reference stored on the memory card. The APR is restored to
the reference stored in RAM.
Yes
Battery backed controller: Restore by taking the memory card to another
controller.
If the other controller has the exact same Axis ID and scaling constants as the
memory card, and has homed axes, the APR is not restored to the reference
stored on the card. The APR is restored to the reference stored in RAM.
The Axis ID attribute is automatically generated when you create an axis in the
Logix Designer application. See The Axis ID attribute description in the Integrated
Motion on the EtherNet/IP network Reference Manual,
publication MOTION-RM003
for more information.
Yes
Change controller Event Machine Reference Retained
Transfer the memory card from the first controller to the second with the
following preconditions.
1. Empty the second controller. There is no user program in the second
controller.
2. The user program has been saved on a memory card with integrated motion
on the EtherNet/IP network axes homed.
Yes
Transfer the memory card from the first controller to the second with the
following preconditions.
1. The second controller has the same user program with the controller being
swapped.
2. The second controller has its axes homed.
Yes
Same controller Event Machine Reference Retained
Reload the same user program from a memory card. This scenario assumes that
the axis is homed in RAM before reload.
Yes
Update controller firmware from memory card. Yes
Controller remains powered or power cycled
with battery and power cycle drives
Event Machine Reference Retained
Change the drive with the same or different catalog number. Yes
Change the motor but not the feedback device. Yes
Table 59 - APR Recovery Scenarios
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