User manual

266 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Appendix C Program
Enter Basic Logic
The controller gives you a set of motion control instructions for your axes:
• Use these instructions just like the rest of the Logix Designer instructions.
You can program motion control in these programming languages:
– Ladder diagram (LD)
– Structured text (ST)
– Sequential function chart (SFC)
• Each motion instruction works on one or more axes.
• Each motion instruction needs a motion control tag. The tag uses a
MOTION_INSTRUCTION data type. The tag stores the status
information of the instruction.
VelocityAccelJerk
Time
Time
Time
S-curve Accel/Decel Time, Backward Compatibility Setting:
Acceleration Jerk = 100% of Time
ATTENTION: Use the tag for the motion control operand of motion
instruction only once. Unintended operation of the control variables
may happen if you reuse the same motion control tag in other
instructions.
Motion Control Tag