Rockwell Automation 2098 CompactLogix Indexing Motion Accelerator Toolkit Quick Start - Manual (Page 96)

96 Publication IASIMP-QS011B-EN-P — January 2009
Appendix A CompactLogix Base Program Overview
Main Machine Control (P00_Control)
All machine control is initiated from the P00_Control program within the T00_Main task. The
sequencing of the machine state (Resetting, Idle, Running, Stopping, or Stopped) is handled in
routines in this main control program. This is done based on user input from the HMI and
machine conditions.
Main Machine Control Flow
The R03_Commands_AUTO routine controls the automatic cycle of the machine and the
R04_Commands_MANUAL routine controls the manual functions of the servo axes.
TIP
If you are familiar with the full S-88 functionality of the Kinetix Accelerator Toolkit sample code,
note that the CompactLogix Indexing Motion Accelerator Toolkit provides a reduced set of
functionality. It does not use PhaseManager.