User manual

Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015 189
Home an Axis Chapter 8
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 CompactFlash
(2)
or SD card
(3)
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
CompactFlash card or SD card on power-up.
Yes
RAM memory becomes corrupt and the user program is restored from the
CompactFlash or SD card.
No
The machine must be referenced again if RAM memory becomes corrupt. There is
no way of retrieving the machine reference positions from either an SD or an SD
card after machine memory becomes corrupt.
No
User program running with a homed axis and you manually restore the user
program from a CompactFlash or an SD card.
If you reset the machine reference by using MAH or MRP after storing the user
program to a CompactFlash or SD card, the MAH and MRP changes will not be
lost. The APR is not restored to the reference stored on the CompactFlash or SD
card. The APR is restored to the reference stored in RAM.
Yes
Battery backed controller: Restore by taking the CompactFlash or an SD card to
another controller.
If the other controller has the exact same Axis ID and scaling constants as the
CompactFlash or SD 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 CompactFlash or SD 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 CompactFlash or SD card with
Integrated Motion on the EtherNet/IP network axes homed.
Yes
Transfer the CompactFlash or SD 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 axes homed.
Yes
Same controller Event Machine Reference Retained
Reload the same user program from a CompactFlash or SD card. This scenario
assumes that the axis is homed in RAM prior to reload.
Yes
Update controller firmware from CompactFlash or SD 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 26 - APR Recovery Scenarios