{"id":1213,"date":"2017-10-25T21:35:33","date_gmt":"2017-10-25T21:35:33","guid":{"rendered":"http:\/\/bryceautomation.com\/?p=1213"},"modified":"2017-10-25T22:25:31","modified_gmt":"2017-10-25T22:25:31","slug":"motion-direct-commands","status":"publish","type":"post","link":"https:\/\/bryceautomation.com\/index.php\/2017\/10\/25\/motion-direct-commands\/","title":{"rendered":"Motion Direct Commands"},"content":{"rendered":"<h2>Introduction to Motion Direct Commands<\/h2>\n<p>In our last document, we added two virtual axis.\u00a0 If you have not done so already, please visit <a href=\"https:\/\/bryceautomation.com\/index.php\/2017\/10\/25\/creating-virtual-axis\/\">this page<\/a> to add the two virtual axis before we continue.\u00a0 \u00a0I will be assuming you are using a spare processor that is not attached to any machinery.\u00a0 \u00a0Once your virtual axis are set up, please download to the processor.\u00a0 \u00a0Go to Remote Run Mode.<\/p><div id=\"bryce-3344425783\" class=\"bryce-afterfirst bryce-entity-placement\"><script async src=\"\/\/pagead2.googlesyndication.com\/pagead\/js\/adsbygoogle.js?client=ca-pub-8316758073402323\" crossorigin=\"anonymous\"><\/script><ins class=\"adsbygoogle\" style=\"display:block;\" data-ad-client=\"ca-pub-8316758073402323\" \ndata-ad-slot=\"7728240895\" \ndata-ad-format=\"auto\"><\/ins>\n<script> \n(adsbygoogle = window.adsbygoogle || []).push({}); \n<\/script>\n<\/div>\n<p>In this example, I will demonstrate how the motion direct commands work by issuing a simple jog instruction.\u00a0 \u00a0If you choose to use these commands on an actual servo, ensure the motion will not cause any damage to equipment or personnel!<\/p>\n<p>In the Controller Tag database, you will notice that tags have been created for our virtual axis.\u00a0 \u00a0Expand VirtualAxis1 by pressing the &#8220;+&#8221; next to the tag.<\/p>\n<p><img decoding=\"async\" class=\"aligncenter size-full wp-image-1214 lazyload\" data-src=\"https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/Controller-tags.png\" alt=\"Axis Controller Tags\" width=\"236\" height=\"37\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 236px; --smush-placeholder-aspect-ratio: 236\/37;\" \/><\/p>\n<p>Find the tag for the actual position.\u00a0 \u00a0In the first section, we will be looking at this position as we run through the motion direct commands to ensure our axis is responding.<\/p>\n<p><img decoding=\"async\" class=\"aligncenter size-full wp-image-1215 lazyload\" data-src=\"https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/actualposition.png\" alt=\"Axis1 Actual Position Tag\" width=\"336\" height=\"209\" data-srcset=\"https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/actualposition.png 336w, https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/actualposition-300x187.png 300w\" data-sizes=\"(max-width: 336px) 100vw, 336px\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 336px; --smush-placeholder-aspect-ratio: 336\/209;\" \/><\/p>\n<h2>Opening the Motion Direct Commands<\/h2>\n<p>In the Controller Organizer window (at the left), right click on VirtualAxis1, and we will open the &#8220;Motion Direct Commands&#8221;.<\/p>\n<p><img decoding=\"async\" class=\"aligncenter size-full wp-image-1216 lazyload\" data-src=\"https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/OpenMotionDirect.png\" alt=\"Open Motion Direct\" width=\"375\" height=\"258\" data-srcset=\"https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/OpenMotionDirect.png 375w, https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/OpenMotionDirect-300x206.png 300w\" data-sizes=\"(max-width: 375px) 100vw, 375px\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 375px; --smush-placeholder-aspect-ratio: 375\/258;\" \/><\/p>\n<p>You will see the command list appear for our motion direct commands.\u00a0 Normally, if this were an actual axis, you would want to clear any faults or shutdown conditions with the MASR (Motion Axis Shutdown Reset), and MAFR (Motion Axis Fault Reset) commands.\u00a0 \u00a0On an actual axis, you would then issue an MSO command (Motion Servo On).\u00a0 Since we are working with a virtual axis, however, the MSO command will not be functional since we don&#8217;t need to turn on an actual servo drive.<\/p>\n<h2>Execute a Command<\/h2>\n<p>To test the motion direct commands, we will simply perform a jog.\u00a0 \u00a0In your command list, locate the MAJ (Motion Axis Jog) command.\u00a0 We will set the speed at 100 units per second for this demonstration, then execute the command.<\/p>\n<p><img decoding=\"async\" class=\"aligncenter size-full wp-image-1217 lazyload\" data-src=\"https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/MotionDirectList.png\" alt=\"Execute Motion Direct\" width=\"558\" height=\"495\" data-srcset=\"https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/MotionDirectList.png 558w, https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/MotionDirectList-300x266.png 300w\" data-sizes=\"(max-width: 558px) 100vw, 558px\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 558px; --smush-placeholder-aspect-ratio: 558\/495;\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>You will see the actual position is now increasing with an actual velocity of near 100 (which was our setting) and the average velocity is also 100 (or close to 100).<\/p>\n<p><img decoding=\"async\" class=\"aligncenter size-full wp-image-1218 lazyload\" data-src=\"https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/MotionTagMoving.png\" alt=\"Axis Moving Direct Jog\" width=\"316\" height=\"123\" data-srcset=\"https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/MotionTagMoving.png 316w, https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/MotionTagMoving-300x117.png 300w\" data-sizes=\"(max-width: 316px) 100vw, 316px\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 316px; --smush-placeholder-aspect-ratio: 316\/123;\" \/><\/p>\n<p>To stop the axis, issue an MAS (Motion Axis Stop) command.<\/p>\n<p><img decoding=\"async\" class=\"aligncenter size-full wp-image-1219 lazyload\" data-src=\"https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/mas.png\" alt=\"MAS Direct\" width=\"556\" height=\"226\" data-srcset=\"https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/mas.png 556w, https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/mas-300x122.png 300w\" data-sizes=\"(max-width: 556px) 100vw, 556px\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 556px; --smush-placeholder-aspect-ratio: 556\/226;\" \/><\/p>\n<p>You will see that your velocity has gone to zero, and the position is no longer changing.<\/p>\n<p><img decoding=\"async\" class=\"aligncenter size-full wp-image-1221 lazyload\" data-src=\"https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/MASTag.png\" alt=\"\" width=\"336\" height=\"125\" data-srcset=\"https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/MASTag.png 336w, https:\/\/bryceautomation.com\/wp-content\/uploads\/2017\/10\/MASTag-300x112.png 300w\" data-sizes=\"(max-width: 336px) 100vw, 336px\" src=\"data:image\/svg+xml;base64,PHN2ZyB3aWR0aD0iMSIgaGVpZ2h0PSIxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPjwvc3ZnPg==\" style=\"--smush-placeholder-width: 336px; --smush-placeholder-aspect-ratio: 336\/125;\" \/><\/p>\n<p>Other commands work very similar.\u00a0 \u00a0You can use the help file if you need more information on how the other commands work.\u00a0 \u00a0By using the motion direct commands on a virtual axis, you can experiment with the operation of various commands.\u00a0 \u00a0This will help you get a good understanding of how the commands work before using them in logic.<\/p>\n<p>You can execute a Motion Axis Home (MAH) command to return the axis values to the home position.<\/p>\n<p>Next, you can move on to try the <a href=\"https:\/\/bryceautomation.com\/index.php\/motion-axis-move\/\">Motion Axis Move command!<\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&#8212; Ricky Bryce<\/p>\n<p>&nbsp;<\/p>\n<div id=\"bryce-363363214\" class=\"bryce-after-content bryce-entity-placement\"><script async src=\"\/\/pagead2.googlesyndication.com\/pagead\/js\/adsbygoogle.js?client=ca-pub-8316758073402323\" crossorigin=\"anonymous\"><\/script><ins class=\"adsbygoogle\" style=\"display:block;\" data-ad-client=\"ca-pub-8316758073402323\" \ndata-ad-slot=\"4667596182\" \ndata-ad-format=\"auto\"><\/ins>\n<script> \n(adsbygoogle = window.adsbygoogle || []).push({}); \n<\/script>\n<\/div>","protected":false},"excerpt":{"rendered":"<p>Introduction to Motion Direct Commands In our last document, we added two virtual axis.\u00a0 If you have not done so already, please visit this page to add the two virtual axis before we continue.\u00a0 \u00a0I will be assuming you are using a spare processor that is not attached to any machinery.\u00a0 \u00a0Once your virtual axis <a class=\"moretag btn btn-primary\" href=\"https:\/\/bryceautomation.com\/index.php\/2017\/10\/25\/motion-direct-commands\/\">Read More \u00bb<\/a><\/p>\n","protected":false},"author":1,"featured_media":1207,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[64],"tags":[11,67],"class_list":{"0":"post-1213","1":"post","2":"type-post","3":"status-publish","4":"format-standard","5":"has-post-thumbnail","7":"category-motion","8":"tag-controllogix","9":"tag-motion-direct","10":"czr-hentry"},"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.3 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Using Motion Direct Commands in the ControlLogix processor<\/title>\n<meta name=\"description\" content=\"We will use motion direct commands on a virtual axis to get a good understanding of motion instructions before using them in logic.\" \/>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" 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