Motion Disarm Registration (MDR)
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.Use the Motion Disarm Registration (MDR) instruction to disarm the specified motion module registration input event checking for the specified axis. This instruction has the effect of clearing both the RegEventStatus and the RegArmedEventStatus bits. The In Process bit of the controlling Motion Arm Registration instruction, if any, is cleared as a result of executing the MDR instruction.
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
MDR(Axis,MotionControl, InputNumber);
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_CIP_DRIVE 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 on which to perform operation. For controllers that support the REF_TO motion data types, the supported axis operand type can be replaced by an equivalent REF_TO type. |
Motion Control | MOTION_INSTRUCTION | MOTION_INSTRUCTION | Tag | Structure used to access instruction status parameters. |
Input Number | UINT32 | UINT32 | 1 or 2 | Specifies the Registration Input to select. 1 = Registration 1 Position 2 = Registration 2 Position |
See
Structured Text Syntax
for more information on the syntax of expressions within structured text.MOTION_INSTRUCTION Structure
Mnemonic | Description |
.EN (Enable) Bit 31 | It is set to true when the rung makes a false-to-true transition and remains set to true until the servo message transaction is completed and the rung goes false. |
.DN (Done) Bit 29 | It is set to true when axis watch event checking has been successfully disarmed. |
.ER (Error) Bit 28 | It is set to true to indicate that the instruction detected an error, such as if you specified an unconfigured axis. |
Description
The MDR instruction cancels registration event checking established by a previous Motion Arm Registration instruction. Only the registration checking associated with the specified registration input is disabled.
If the targeted axis does not appear in the list of available axes, the axis has not been configured for operation. Use the Tag Editor to create and configure a new axis.
To successfully execute a MDR instruction, the targeted axis must be configured as either a Servo or Feedback Only axis. Otherwise, the instruction errors.
IMPORTANT:
The instruction execution may take multiple scans to execute because it requires multiple coarse updates to complete the request. The Done (.DN) bit is not set immediately, but only after the request completes.
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 either the .DN or .ER bit is true. |
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)
for Motion Instructions.Extended Error Codes
Extended Error Codes provide additional instruction specific information for the Error Codes that are generic to many instructions. The following Extended Error codes help to pinpoint the problem when the MDR instruction receives a Servo Message Failure (12) error message. See
Motion Error Codes (.ERR)
for Motion Instructions.Associated Error Code (decimal) | Extended Error Code (decimal) | Meaning |
SERVO_MESSAGE_FAILURE (12) | Invalid value (3) | Registration input provided is out of range. |
Extended Error codes for the Parameter Out of Range (13) error code work a little differently. Rather than having a standard enumeration, the number that appears for the Extended Error code 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 MDR instruction, an extended error code of 2 would refer to the Input Number operand’s value. Input number is limited by the accepted range of values for the instruction and by the drive type. Some CIP drives allow 1 and 2, while other CIP drives will only allow 1.
Status Bits
MDR Changes to Status Bits
Bit Name | State | Meaning |
RegEventArmedStatus | FALSE | The axis is not looking for a registration event. |
RegEventStatus | FALSE | The previous registration event is cleared. |
Example
When the input conditions are true, the controller disarms registration-event checking for axis2.
Ladder Diagram
Structured Text
MDR(Axis1, MDR_1, 1);
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