Rockwell Automation 193 Drives and Motion Accelerator Toolkit Quick Start - Manual (Page 203)

Rockwell Automation Publication IASIMP-QS019E-EN-P - August 2013 203
Appendix
A
Logic Program Overview
The Drives and Motion Accelerator Toolkit DVD, publication IASIMP-SP017 , was developed around a
modular concept. Modularity lets you decide which components to incorporate into your machine, providing
greater flexibility and a custom fit. The preconfigured logic is specifically designed around this modular concept
and consists of three main logic modules.
Logic Module Overview
Logic Module Type Function
Machine
The machine module contains the high level control for the entire machine. The machine module was built around a simple state machine that
you can customize to fit most applications. The machine module broadcasts out commands and receives feedback information from each of the
application and device modules. Based on the feedback information, the machine will react accordingly.
In addition, the machine module provides a high level interface with the HMI, accepting commands like Start, Stop, and Clear Faults. It provides
status info to the HMI terminal like current state of the machine (for example, RUNNING versus STOPPED).
Application
The application modules contain all of the application specific code. This is where a majority of the customizing is expected to occur and is
essentially a programming space where you spend a significant portion of your efforts to develop proprietary logic specific to your application.
Device
Device modules contain all of the logic to control the essential functions required by the device. For example, an Integrated Motion servo drive like
the Kinetix 6500 requires logic (MSO and MSF instructions) to enable and/or disable the servo drive. This logic reduces the programming effort
required by most applications providing more time for the proprietary logic needed for the application.
Typically, the device module consists of a physical drive, but could also consist of a virtual or feedback-only axis. Device modules can also consist of
multiple devices (for example, a drive) and perhaps a feedback device (for example, a sensor).