APR Recovery Scenarios
The following tables provide detailed information on when the APR feature recovers absolute position. Consider these assumptions. In each of these cases, the APR feature restores absolute position and preserves the state of the Axis Homed bit, indicating that the axis has a machine referenced absolute position.
- All relevant axes are CIP axes.
- Yes, machine reference is recovered (for Axes that have been homed).
- No, machine reference is not recovered (for Axes that have been homed).ScenarioEventMachine Reference RetainedControllerBattery(1)YesController Power Cycle with BatteryYesController Removal/Insertion Under Power (RIUP) with Battery(1)YesController Firmware UpdateYesController update from Secure Digital cardYesSwap two controllers with the same catalog numbers (Secure Digital card also swapped).It is only possible to restore the APR from a Secure Digital card if the second controller had a previously homed application.Yes
- Axes are homed.
- Project is saved to Secure Digital card.
- Axes are moved and re-referenced.
- System is restored from Secure Digital card.
The system absolute position is restored to re-referenced positions and the Home bit remains set.YesThe system absolute position on each machine becomes restored correctly at its respective position and the Home bit remains set.YesChange Controller (SD card not swapped)No(2)Change Controller without a Secure Digital card.NoController CompactFlash UpdateYesController Swap (Same CF Card)YesChange controllerNoChange Controller without a CompactFlash CardNoController Power Cycle without Battery(1)No(3)Controller Removal/Insertion Under Power (RIUP) without Battery(1)NoTake the controllers out of two systems with a battery or energy storage module and swap controller. There are no CompactFlash or Secure Digital cards on either controller.No- Controller remains powered.
- Power cycle drives.
- Change feedback device but not motor.
NoAxes are homed.The system absolute position is lost, the axes must be rehomed, and the Home bit is cleared.No(3)Controller Power Cycle or Removal and Insertion Under Power without a battery or energy storage module.NoController and drives remained powered.Hardware feedback failure on an axis.NoBattery Backed ControllerUser program running with an axis that is not homed.NoController and drives remained poweredDisconnect and reconnect the Ethernet cable.YesDisconnect and reconnect the same feedback or motor cable on an axis.YesInhibit or Uninhibit an axis or drive.YesBattery Backed ControllerSave to a Secure Digital card(2)with a homed axis and you initiate the restore.YesRIUP controller.YesCycle power-on controller.YesCycle power-on controller that is configured to restore the user program from a Secure Digital card on power-up.YesRAM memory becomes corrupt, and the user program is restored from the Secure Digital card.The machine must be referenced again because RAM memory is corrupt. There is no way to retrieve the machine reference positions from a memory card after machine memory becomes corrupt.No(3)User program running with a homed axis and you manually restore the user program from a Secure Digital card.If you reset the machine reference by using MAH or MRP after storing the user program to a memory card, the MAH and MRP changes are not lost. The APR is not restored to the reference stored on the memory card. The APR is restored to the reference stored in RAM.YesBattery Backed Controller: Restore by taking the Secure Digital card to another controller.If the other controller has the same Axis ID and scaling constants as the Secure Digital card and has homed axes, the APR is not restored to the reference stored on the card. The APR is restored to the reference stored in RAM.The Axis ID attribute is automatically generated when you create an axis in the Logix Designer application.See the Axis ID attribute description in the Integrated Motion on the EtherNet/IP network Reference Manual, publication MOTION-RM003 for more information.YesChange controllerTransfer the Secure Digital card from the first controller to the second with the following preconditions:- Empty the second controller. There is no user program in the second controller.
- The user program has been saved on a Secure Digital card with CIP Motion axes homed.
NoTransfer the Secure Digital Card from the first controller to the second with the following preconditions:- The second controller has the same user program with the controller being swapped.
- The second Controller has axes homed.
YesSame controllerReload the same user program from a Secure Digital card. This scenario assumes that the axis is homed in RAM before reload.YesUpdate controller firmware from Secure Digital card.YesController remains powered or power cycled with battery and power cycle drivesChange drive with same or different catalog number.YesChange motor but not feedback device.YesDownload the same program with no hardware changesChange the name of the axis.YesDownload the sameStudio 5000 Logix Designerto the controller.YesSave As with a different file name.YesPartial Export and then import an axis.YesAdded application logic.YesDownload theStudio 5000 Logix Designerproject of an existing axis.YesAdd an axis.No for the new axisCopy or cut and paste or drag and then drop axis into the same project or another project.No for the new or pasted axisExport and then import into the same or another project.Save the project as an .ACD file to recover the absolute position.NoThere are changes to the axis scaling attributes.NoPosition feedbackThe position feedback device was disconnected or reconnected.YesFeedback deviceThe position feedback device was disconnected or reconnected.YesThe feedback device changed.No(3)The position feedback device was swapped.No(3)The position feedback device failed.No(3)The position feedback polarity changed.No(3)The Feedback mode changed.No(3)RestoreRestore from Secure Digital card. (It is only possible to restore the APR from a Secure Digital card if the controller had a previously homed application.)YesInhibit or uninhibitInhibit or uninhibit an axis.YesInhibit or uninhibit an I/O module.YesStudio 5000 Logix DesignerprojectImport or export the project download.YesDownload the project download of a new or copied axis.No(4)DriveThe drive cycled power with incremental feedback.NoThe drive firmware updated with incremental feedback.NoChange the driveYesCycle power to the driveYesCycle power to the drive with absolute feedback.YesChange the motor if the motor does not contain a feedback device.YesThe drive firmware was update with absolute feedback.YesThe drive was disconnected or reconnected.YesThe drive was inhibited or uninhibited.YesThe drive was swapped with the same feedback.YesScalingScaling signature has changed.The scaling signature changed. This change includes Transmission, Linear Actuator, Motion Resolution, and Motion Unit attribute changes.No(3)(1)The term Battery in this table assumes the ControlLogix 5560 or GuardLogix 5560 controller with a battery or a ControlLogix 5570 controller and a 1756-ESMxxx Energy Storage Module. ControlLogix 5580, GuardLogix 5580, CompactLogix™ 5380, and Compact GuardLogix 5380 controllers have embedded energy storage modules.(2)The controller cannot generate the fault because the data cannot be preserved.(3)When any of these conditions occur, the Axis Homed bit, if set, is cleared indicating that axis position is no longer referenced to the machine. To flag the condition that the Axis Homed bit has been cleared and that the machine referenced absolute position has been lost, an APR Fault is generated. This fault is recoverable and can be cleared via any Fault Reset or Shutdown Reset instruction.(4)Not retained for the new or copied axis.
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