Chapter 2
Behavior models used in CIP Motion
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Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
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Change in any of the axis attributes which impacts the absolute machine
position.
When an APR fault occurs, the actual position of the axis is set to the feedback
reference position of the axis. The values are read from the absolute encoder. This
clears the axis homed status bit.
A download, restore from a CompactFlash card, a restore from a Secure Digital
Card, or a ControlFLASH firmware update after one of these events causes the
APR fault.
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Axis Configuration
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Attribute Changes
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Offline edits of the axis attributes or configuration does not cause an
APR fault until after download occurs.
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Online edits of certain attributes will result in an immediate APR fault.
Changing the axis feedback device or feedback polarity without
downloading the project will also generate an immediate APR fault.
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Axis hardware change or malfunction
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Axis hardware resource insufficiency
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Hardware resource insufficiencies are only detected during download
or ControlFLASH firmware update and will result in an APR fault.
During axis configuration, the following checks are made:
1.
Existing Axis?
2.
Scaling Signature matches saved Scaling Signature?
3.
Feedback Signature matches saved Feedback Signature?
If these three checks pass, generally absolute position is restored.
During operation, the system monitors the following conditions:
1.
Feedback Integrity Status bit cleared?
2.
Scaling Signature dependent attribute values changed by SSV?
Changes to the following attributes do not impact the Scaling Signature or result
in the loss of the absolute machine reference and therefore do not generate an
APR Fault.
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Conversion Constant
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Position Unwind