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Allen-Bradley Studio 5000 Logix Emulate User Manual

Allen-Bradley Studio 5000 Logix Emulate
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Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 627
Chapter 10
Overview of motion-related data types
Follow this chapter to gain information about motion-related data types.
The CAM data type consists of slave and master point pairs, as well as an
interpolation type. Since there is no association with a specific axis position or
time, the point values are unitless. The interpolation type can be specified for each
segment as either linear or cubic. The format of the cam array element is shown
below:
Mnemonic Data Type Description
MASTER REAL The x value of the point.
SLAVE REAL The y value of the point.
Segment Type DINT The type of interpolation
0 = linear
1 = cubic
The CAM_PROFILE data type is an array of coefficients representing a calculated
cam profile that can be used as input to a time cam or position cam instruction.
The only element available to you is Status, which is defined below:
Mnemonic Data Type Description
Status DINT The status parameter is used to indicate that the Cam Profile array element has been calculated. If you attempt
the execution of a camming instruction using an uncalculated element in a cam profile, the instruction produces
an error.
0 = cam profile element has not been calculated
1 = cam profile element is being calculated
2 = cam profile element has been calculated
n = cam profile element has been calculated and is currently being used by (n-2) MAPC and MATC instructions.
CAM Structure
CAM_PROFILE
Structure

Table of Contents

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Allen-Bradley Studio 5000 Logix Emulate Specifications

General IconGeneral
TypeEmulation Software
Supported PlatformsPC
Operating SystemWindows
Compatible ControllersControlLogix 5570, ControlLogix 5580, CompactLogix 5370, CompactLogix 5480
IntegrationIntegrated with Studio 5000 environment
Works with Studio 5000 Logix DesignerYes
Programming LanguagesLadder Logic, Function Block Diagram, Structured Text, Sequential Function Chart
Communication ProtocolsEtherNet/IP
FunctionalityController Emulation
PurposeTesting and Debugging
Use CaseProgram development, testing, training, and troubleshooting without physical PLC hardware

Summary

LOGIX 5000 Controllers Motion Instructions

Motion State Instructions

Motion Axis Fault Reset (MAFR)

Use the Motion Axis Fault Reset (MAFR) instruction to clear all motion faults for an axis. This is the only method for clearing axis motion faults.

Motion Axis Shutdown (MASD)

Use the Motion Axis Shutdown (MASD) instruction to force a specified axis into the Shutdown state.

Motion Axis Shutdown Reset (MASR)

Use the Motion Axis Shutdown (MASR) instruction to transition a group of axes from the shutdown operating state to the axis ready operating state.

Motion Move Instructions

Motion Axis Stop (MAS)

Use the Motion Axis Stop (MAS) instruction to stop a specific motion process on an axis or to stop the axis completely.

Motion Axis Home (MAH)

Use the Motion Axis Home (MAH) instruction to home an axis. Two different homing modes can be selected during axis configuration: Active or Passive.

Motion Axis Jog (MAJ)

Use the Motion Axis Jog (MAJ) instruction to move an axis at a constant speed until you tell it to stop.

Motion Axis Move (MAM)

Use the Motion Axis Move (MAM) instruction to move an axis to a specified position.

Motion Change Dynamics (MCD)

Use the Motion Change Dynamics (MCD) instruction to selectively change the speed, acceleration rate, or deceleration rate of a move profile or a jog profile in process.

Motion Calculate Cam Profile (MCCP)

The Motion Calculate Cam Profile (MCCP) instruction calculates a cam profile based on an array of cam points.

Motion Axis Position Cam (MAPC)

The Motion Axis Position Cam (MAPC) instruction provides electronic camming between any two axes according to the specified Cam Profile.

Motion Axis Time Cam (MATC)

The Motion Axis Time Cam (MATC) instruction provides electronic camming of an axis as a function of time, according to the specified Cam Profile.

Motion Group Instructions

Motion Group Stop (MGS)

The Motion Group Stop (MGS) instruction initiates a stop of all motion in progress on all axes in the specified group by a method configured individually for each axis or as a group via the Stop Mode of the MGS instruction.

Motion Group Shutdown (MGSD)

Use the Motion Group Shutdown (MGSD) instruction to force all axes in the designated group into a Shutdown state.

Motion Group Shutdown Reset (MGSR)

Use the Motion Group Shutdown Reset (MGSR) instruction to transition a group of axes from the shutdown operating state to the axis ready operating state.

Motion Event Instructions

Motion Configuration Instructions

Multi-Axis Coordinated Motion Instructions

Motion Coordinated Linear Move (MCLM)

Use the MCLM instruction to start a single or multi-dimensional linear coordinated move for the specified axes within a Cartesian coordinate system.

Motion Coordinated Circular Move (MCCM)

Use the MCCM instruction to initiate a two or three-dimensional circular coordinated move for the specified axes within a Cartesian coordinate system.

Motion Error Codes, faults, and attributes

Understand Motion Status and Configuration Parameters

Troubleshoot Axis Motion

Overview of motion-related data types

Overview of Structured Text Programming

Common attributes for Motion instructions

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