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Logix5000 Controllers Motion Instructions Reference Manual

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Logix5000 Controllers Motion InstructionsCatalog Numbers 1756 ControlLogix, 1756 GuardLogix, 1768 CompactLogix, 1789 SoftLogix Reference ManualImportant User InformationSolid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available from your local Rockwell Automation™ sales office or online at http://www.rockwellautomation.com/literature/) describes some important differences between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.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.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.Allen-Bradley, Rockwell Automation, CompactLogix, ControlLogix, DriveLogix, GuardLogix, Kinetix, Logix, PhaseManager, PowerFlex, Rockwell Automation, RSLogix, SoftLogix, TechConnect, and Ultra are trademarks of Rockwell Automation, Inc.Trademarks not belonging to Rockwell Automation are property of their respective companies.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.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.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.IMPORTANTIdentifies information that is critical for successful application and understanding of the product.Rockwell Automation Publication MOTION-RM002B-EN-P - October 20113Summary of ChangesThis release of this document contains new and updated information. To find new and updated information, look for change bars, as shown next to this paragraph.Updated InformationThe document contains these changes.Additional changes have been made throughout this document and are marked with change bars.TopicPageCamming Concepts283MDSC Functionality313Master Driven Axis Control (MDAC)3134Rockwell Automation Publication MOTION-RM002B-EN-P - October 2011Summary of ChangesNotes:Rockwell Automation Publication MOTION-RM002B-EN-P - October 20115Motion Instruction Locator Where to Find an InstructionUse this locator to find the reference details about Logix instructions. The grayed-out instructions are available in other manuals. This locator also lists which programming languages are available for theinstructions.Table 1 - Instruction LocatorIf the locator listsThe instruction is documented ina page numberthis manualcoordinateMotion Coordinate System User Manual, MOTION-UM002generalLogix5000™ Controllers General Instructions Reference Manual, 1756-RM003processLogix5000 Controllers Process Control and Drives Instructions Reference Manual, 1756-RM006phaseLogix5000 Controllers PhaseManager™ User Manual, LOGIX-UM001 InstructionLocationLanguagesABLASCII Test For Buffer Linegeneralrelay ladderstructured textABSAbsolute Valuegeneralrelay ladderstructured textfunction blockACBASCII Chars in Buffergeneralrelay ladderstructured textACLASCII Clear Buffergeneralrelay ladderstructured textACOSArc Cosinegeneralstructured textACSArc Cosinegeneralrelay ladderfunction blockADDAddgeneralrelay ladderstructured textfunction blockAFIAlways False Instructiongeneralrelay ladderAHLASCII Handshake Linesgeneralrelay ladderstructured textALMAlarmprocessstructured textfunction blockALMAAnalog Alarmgeneralrelay ladderstructured textfunction blockALMDDigital Alarmgeneralrelay ladderstructured textfunction blockANDBitwise ANDgeneralrelay ladderstructured textfunction blockARDASCII Readgeneralrelay ladderstructured textARLASCII Read Linegeneralrelay ladderstructured textASINArc Sinegeneralstructured textASNArc Sinegeneralrelay ladderfunction blockATANArc Tangentgeneralstructured textATNArc Tangentgeneralrelay ladderfunction blockAVEFile Averagegeneralrelay ladderAWAASCII Write Appendgeneralrelay ladderstructured textAWTASCII Writegeneralrelay ladderstructured textBANDBoolean ANDgeneralstructured textfunction blockBNOTBoolean NOTgeneralstructured textfunction blockBORBoolean ORgeneralstructured textfunction blockBPTBreakpointsgeneralrelay ladderBRKBreakgeneralrelay ladderBSLBit Shift Leftgeneralrelay ladderBSRBit Shift Rightgeneralrelay ladderBTDBit Field Distributegeneralrelay ladderInstructionLocationLanguages

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