User manual

270 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Appendix C Program
Tune an axis and run diagnostic tests for
your control system. These tests include
the following:
• Motor/encoder hookup test
• Encoder hookup test
• Marker test
Control multi-axis coordinated motion
Run a tuning motion profile for an axis MRAT
Motion Run Axis Tuning
No
Run one of the diagnostic tests on an axis. MRHD
Motion Run Hookup Diagnostic
No
Start a linear coordinated move for the axes of a coordinate system. MCLM
Motion Coordinated Linear Move
No
Start a circular move for the axes of a coordinate system. MCCM
Motion Coordinated Circular Move
No
Change in path dynamics for the active motion on a coordinate
system.
MCCD
Motion Coordinated Change Dynamics
No
Stop the axes of a coordinate system or cancel a transform. MCS
Motion Coordinated Stop
No
Shut down the axes of a coordinate system. MCSD
Motion Coordinated Shutdown
No
Start a transform that links two coordinate systems together. This is
like bi-directional gearing.
MCT
Motion Coordinated Transform
(1)
No
Calculate the position of one coordinate system with respect to
another coordinate system.
MCTP
Motion Calculate Transform Position
(1)
No
Transition the axes of a coordinate system to the ready state and clear
the axis faults.
MCSR
Motion Coordinated Shutdown Reset
No
(1) You can only use this instruction with 1756-L6x or 1756-L6xS controllers.
Table 46 - Available Motion Direct Commands
If You Want To And Use This Instruction Motion Direct
Command