Logix 5000 Controllers Motion Instructions

1 Rockwell Automation Publication Motion -RM002K-EN-P-March 2022 Supersedes Motion -RM002J-EN-P-October 2020 Reference Manual Original Instructions Logix 5000 Controllers Motion Instructions 1756 ControlLogix, 1756 GuardLogix, 1769 CompactLogix, 1769 Compact GuardLogix, 1789 SoftLogix, 5069 CompactLogix, 5069 Compact GuardLogix, Studio 5000 Logix Emulate Logix 5000 Controllers Motion Instructions 2 Rockwell Automation Publication Motion -RM002K-EN-P -March 2022 Important User Information Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product.

2 Users are required to familiarize themselves with installation and wiring Instructions in addition to requirements of all applicable codes, laws, and standards. Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice. If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired. In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

3 The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams. No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual. Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited. Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

4 WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss. ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence. IMPORTANT Identifies information that is critical for successful application and understanding of the product. Labels may also be on or inside the equipment to provide specific precautions. SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.

5 BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures. ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE). Rockwell Automation recognizes that some of the terms that are currently used in our industry and in this publication are not in alignment with the movement toward inclusive language in technology.

6 We are proactively collaborating with industry peers to find alternatives to such terms and making changes to our products and content. Please excuse the use of such terms in our content while we implement these changes. Rockwell Automation Publication Motion -RM002K-EN-P -March 2022 3 Summary of changes This manual includes new and updated information. Use these reference tables to locate changed information. Global changes This table identifies changes that apply to all information about a subject in the manual and the reason for the change. For example, the addition of new supported hardware, a software design change, or additional reference material would result in changes to all of the topics that deal with that subject.

7 Change Topic New Studio 5000 Logix Designer branding Studio 5000 environment on page 15 New or enhanced features This table contains a list of topics changed in this version, the reason for the change, and a link to the topic that contains the changed information. Subject Reason Motion Axis Position Cam (MAPC) on page 156 Updated content throughout topic. Motion Axis Time Cam (MATC) on page 191 Updated content throughout topic. Motion Arm Output Cam (MAOC) on page 269 Moved the warning to the beginning of topic. Rockwell Automation Publication Motion -RM002K-EN-P -March 2022 5 Instruction Locator Use this locator to find the applicable Logix5000 Controllers instruction manual for each instruction.

8 Logix5000 Controllers General Instructions Reference Manual 1756-RM003 Logix5000 Controllers Advanced Process Control and Drives and Equipment Phase and Sequence Instructions Reference Manual 1756-RM006 Logix5000 Controllers Motion Instructions Reference Manual Motion -RM002 Absolute Value (ABS) Alarm (ALM) Master Driven Coordinated Control (MDCC) Add (ADD) Attach to Equipment Phase (PATT) Motion Apply Axis Tuning (MAAT) Analog Alarm (ALMA) Attach to Equipment Sequence (SATT) Motion Apply Hookup Diagnostics (MAHD) Always False (AFI) Coordinated Control (CC) Motion Arm Output Cam (MAOC) Arc Cosine (ACS, ACOS) D Flip-Flop (DFF) Motion Arm Registration (MAR) Arc Sine (ASN, ASIN) Deadtime (DEDT) Motion Arm Watch (MAW) Arc Tangent (ATN, ATAN) Derivative (DERV) Motion Axis Fault Reset (MAFR) ASCII Chars in Buffer (ACB) Detach from Equipment Phase (PDET) Motion Axis Gear (MAG) ASCII Clear Buffer (ACL) Detach from Equipment Sequence (SDET) Motion Axis Home (MAH) ASCII Handshake Lines (AHL) Discrete 3-State Device (D3SD) Motion Axis Jog (MAJ) ASCII Read (ARD) Discrete 2-State Device (D2SD) Motion Axis Move (MAM) ASCII Read Line (ARL) Enhanced PID (PIDE) Motion Axis Position Cam (MAPC) ASCII Test for Buffer Line (ABL) Enhanced Select (ESEL) Motion Axis Stop (MAS) ASCII Write (AWT) Equipment Phase Clear Failure (PCLF)

9 Motion Axis Time Cam (MATC) ASCII Write Append (AWA) Equipment Phase Command (PCMD) Motion Axis Shutdown (MASD) Bit Field Distribute (BTD) Equipment Phase External Request (PXRQ) Motion Axis Shutdown Reset (MASR) Bit Field Distribute with Target (BTDT) Equipment Phase Failure (PFL) Motion Calculate Cam Profile (MCCP) Bit Shift Left (BSL) Equipment Phase New Parameters (PRNP) Motion Coordinated Path Move (MCPM) Bit Shift Right (BSR) Equipment Phase Override Command (POVR) Motion Calculate Slave Values (MCSV) Bitwise And (AND) Equipment Phase Paused (PPD) Motion Coordinated Transform with Orientation (MCTO) Bitwise (NOT) Equipment Sequence Assign Sequence Identifier (SASI) Motion Calculate Transform Position (MCTP) Bitwise (OR) Equipment Sequence Clear Failure (SCLF) Motion Calculate Transform Position with Orientation (MCTPO) Boolean AND (BAND) Equipment Sequence command (SCMD) Motion Change Dynamics (MCD) Boolean Exclusive OR (BXOR) Equipment Sequence Override (SOVR) Motion Coordinated Change Dynamics (MCCD) Boolean NOT (BNOT) Function Generator (FGEN) Motion Coordinated Circular Move (MCCM) Boolean OR (BOR) High Pass Filter (HPF) Motion Coordinated Linear Move (MCLM) Break (BRK) High/Low Limit (HLL) Motion Coordinated Shutdown (MCSD) Breakpoints (BPT) HMI Button Control (HMIBC)

10 Motion Coordinated Shutdown Reset (MCSR) Clear (CLR) Integrator (INTG) Motion Coordinated Stop (MCS) Compare (CMP) Internal Model Control (IMC) Motion Coordinated Transform (MCT) Convert to BCD (TOD) JK Flip-Flop (JKFF) Motion Direct Drive Off (MDF) Convert to Integer (FRD) Lead-Lag (LDLG) Motion Direct Drive On (MDO) Copy File (COP), Synchronous Copy File (CPS) Low Pass Filter (LPF) Motion Direct Start (MDS) Cosine (COS) Maximum Capture (MAXC) Motion Disarm Output Cam (MDOC) Compute (CPT) Minimum Capture (MINC) Motion Disarm Registration (MDR) Count down (CTD) Modular Multivariable Control (MMC) Motion Disarm Watch (MDW) Count up (CTU) Moving Average (MAVE) Motion Group Shutdown (MGSD) Instruction Locator 6 Rockwell Automation Publication Motion -RM002K-EN-P -March 2022 Logix5000 Controllers General Instructions Reference Manual 1756-RM003 Logix5000 Controllers Advanced Process Control and Drives and Equipment Phase and Sequence Instructions Reference Manual 1756-RM006 Logix5000 Controllers Motion Instructions Reference Manual Motion -RM002 Count up/down CTUD Moving Standard Deviation (MSTD) Motion Group Shutdown Reset (MGSR) Data Transition (DTR) Multiplexer (MUX) Motion Group Stop (MGS) Degrees (DEG) Notch Filter (NTCH) Motion Group Strobe Position (MGSP) Diagnostic Detect (DDT) Phase State Complete (PSC)