User manual

184 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Chapter 8 Home an Axis
By contrast, an Integrated Motion on the EtherNet/IP network axis supports
controller based scaling where absolute position is maintained in the controller’s
firmware. Without the work of the APR feature, absolute position would be lost
after a power cycle or project download.
APR Faults
APR faults are generated during the events and when one of the conditions
defined in the following APR Fault Conditions
is present.
APR Fault Conditions
The axis must be in the homed state for an APR Fault to occur. The Axis Homed
Status Bit must be set.
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 APR fault.
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 the CompactFlash card.
– Manual Restore
– Power-up restore, when configured
• Firmware is updated via ControlFLASH software.
• An SSV to either change Feedback Polarity or one of the attributes, which
results in a change to the Motion Resolution attribute.