Motion Disarm Output Cam (MDOC)
This information applies to the
CompactLogix
5370, ControlLogix
5570, Compact GuardLogix
5370, GuardLogix
5570, Compact GuardLogix
5380, CompactLogix
5380, CompactLogix
5480, ControlLogix
5580, and GuardLogix
5580 controllers. Controller differences are noted where applicable.The Motion Disarm Output Cam (MDOC) instruction initiates the disarming of one or more Output Cams connected to the specified axis. Based on the disarm type, the MDOC instruction disarms either all Output Cams or only a specific Output Cam. The corresponding outputs maintain the last state after the disarming.
Architecture | Standard | Safety |
|---|---|---|
CompactLogix 5370, ControlLogix 5570, Compact GuardLogix 5370, and GuardLogix 5570 controllers | Yes | No |
Compact GuardLogix 5380, CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix 5580 controllers | Yes | No |
Available Languages
Ladder Diagram
Function Block
This instruction is not available in function block.
Structured Text
MDOC(Axis, ExecutionTarget, MotionControl, DisarmType);
Operands
Ladder Diagram and Structured Text
Operand | Type CompactLogix 5370, Compact GuardLogix 5370, Compact GuardLogix 5380, CompactLogix 5380, CompactLogix 5480 | Type ControlLogix 5570, GuardLogix 5570, ControlLogix 5580, and GuardLogix 5580 controllers | Format | Description |
Axis | AXIS_CIP_DRIVE AXIS_VIRTUAL AXIS_CONSUMED Tip: AXIS_CONSUMED is supported by Compact GuardLogix 5580, CompactLogix 5380, and CompactLogix 5480 controllers only. | AXIS_CIP_DRIVE AXIS_VIRTUAL AXIS CONSUMED AXIS_SERVO AXIS_SERVO_DRIVE AXIS_GENERIC_DRIVE AXIS_GENERIC Tip: AXIS_GENERIC is supported by the ControlLogix 5570 and the GuardLogix 5570 controllers only. | Tag | Name of the axis that provides the position input to the Output Cam. Ellipsis launches Axis Properties dialog. For controllers that support the REF_TO motion data types, the supported axis operand type can be replaced by an equivalent REF_TO type. |
Execution Target | SINT, INT, or DINT | SINT, INT, or DINT | Immediate or Tag | The execution target defines the specific Output Cam from the set connected to the named axis. Behavior is determined by the following: 0...7 – Output Cams executed in the Logix controller. 8...31 – Reserved for future use. |
Motion Control | MOTION_INSTRUCTION | MOTION_INSTRUCTION | Tag | Structure used to access instruction status parameters. |
Disarm Type | SINT, INT, or DINT | SINT, INT, or DINT | Immediate | Selects one or all Output Cams to be disarmed for a specified axis. Select either: 0 = All – Disarms all Output Cams connected to the specified axis. 1 = Specific – Disarms the Output Cam that is connected to the specified axis and defined by the Execution Target. |
Structured Text
See
Structured Text Syntax
for more information on the syntax of expressions within structured text.For the operands that require you to select from available options, enter your selection as:
This Operand | Has These Options Which You | |
Enter as Text | Or Enter as a Number | |
Disarm Type | all specific | 0 1 |
MOTION_INSTRUCTION Structure
Mnemonic | Description |
.DN (Done) Bit 29 | It is set to true when Output Cam(s) have been successfully disarmed. |
.ER (Error) Bit 28 | It is set to true to indicate that the instruction detected an error. |
Description
The MDOC instruction disarms a specific or all output cams for a specified axis depending on the selected disarm type. The axis provides the position input to the Output Cam. The execution target defines a specific Output Cam from the set that is connected to the specified axis.
In this transitional instruction, the relay ladder, toggle the Rung-condition-in from cleared to set each time the instruction should execute.
Affects Math Status Flags
No
Major/Minor Faults
None specific to this instruction. A major fault can occur if an uninitialized reference or a reference of incorrect type is passed to the Axis Operand. See
Common Attributes
for operand-related faults.Execution
Ladder Diagram
Condition/State | Action Taken |
Prescan | The .EN, .DN, .ER, and .IP bits are cleared to false. |
Rung-condition-in is false | The .EN bit is cleared to false if the .DN or .ER bit is set to true. Otherwise, the .EN bit is not affected. The .DN,.ER ,.IP and .PC bits are not affected. |
Rung-condition-in is true | The .EN bit is set to true and the instruction executes. |
Postscan | N/A |
Structured Text
Condition/State | Action Taken |
Prescan | See Prescan in the Ladder Diagram table. |
Normal execution | See Rung-condition-in is false, followed by rung is true in the Ladder Diagram table. |
Postscan | See Postscan in the Ladder Diagram table. |
Error Codes
See
Motion Error Codes (.ERR)
.Extended Error Codes
Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions. Extended Error codes for the Parameter Out of Range (13) error code lists a number that refers to the number of the operand as they are listed in the faceplate from top to bottom with the first operand being counted as zero. Therefore for the MDOC instruction, an extended error code of 4 would refer to the Disarm Type operand's value. You would then have to check your value with the accepted range of values for the instruction.
Execution
If ERR is | And EXERR is | Then | Corrective Action |
Cause | |||
36 | Varies | The size of the Output Cam array is not supported or the value of at least one member is out of range: Output bit less than 0 or greater than 31. Latch type less than 0 or greater than 3. Unlatch type less than 0 or greater than 5. Left or right position is out of cam range and the latch or unlatch type is set to "Position" or "Position and Enable". Duration less than or equal to 0 and the unlatch type is set to "Duration" or "Duration and Enable". Enable type less than 0 or greater than 3 and the latch or unlatch type is set to "Enable", "Position and Enable", or "Duration and Enable". Enable bit less than 0 or greater than 31 and the latch or unlatch type is set to "Enable", "Position and Enable", or "Duration and Enable". Latch type is set to "Inactive" and unlatch type is set to either "Duration" or "Duration and Enable". | Illegal Output Cam |
37 | Varies | Either the size of the Output Compensation array is not supported or the value of one of its members is out of range. | Illegal Output Compensation |
The array index associated with errors 36 and 37 are stored in .SEGMENT of the Motion Instruction data type. Only the first of multiple errors are stored. The specific error detected is stored in Extended Error Code. With the ability to dynamically modify the Output Cam table, the Illegal Output Cam error 36 may occur while the MAOC is in-process. In general, the cam elements in which an error was detected will be skipped. The following are exceptions, and will continue to be processed. Error 2, Latch Type Invalid. Latch Type defaults to Inactive. Error 3, Unlatch Type Invalid. Unlatch Type defaults to Inactive. Error 8, with Unlatch Type of Duration and Enable. Will behave as an Enable Unlatch type. | |||
Status Bits
MDOC Effects Status Bits
The MDOC instruction affects the following status words in the Motion Axis Structure:
- OutputCamStatus
- OutputCamPendingStatus
- OutputCamLockStatus
- OutputCamTransitionStatus
Each above is a DINT with bits 0 to 7 corresponding to the 8 execution targets. Bit 0 is execution target 0; bit 1 is execution target 1, etc.
Example
Ladder Diagram
Structured Text
MDOC(Axis1, ExecutionTarget1, MDOC_2, All);
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