Motion Direct Commands In Motion Control Systems - Allen-Bradley Kinetix 5700 User Manual

Chapter 9 Kinetix 5700 Safe Torque-off Function
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Configure Always
When the Configure Always feature is enabled, the controller automatically
checks for and connects to a replacement drive that meets all of the following
requirements:
• The controller has configuration data for a compatible drive at that
network address
• The drive is in Hardwired STO mode or has an SNN that matches the
configuration
ATTENTION: Enable the Configure Always feature only if the entire
integrated safety control system is not being relied on to maintain SIL 3
behavior during the replacement and functional testing of a Kinetix 5700
drive. Do not place drives that are in Hardwired STO mode on an integrated
safety network when the Configure Always feature is enabled.
If other parts of the integrated safety control system are being relied upon to
maintain SIL 3, make sure that the controller's Configure Always feature is
disabled.
It is your responsibility to implement a process to make sure proper safety
functionality is maintained during device replacement.
ATTENTION: Do not place any devices in the out-of-box condition on any
integrated safety network when the Configure Always feature is enabled. For
the device replacement procedure, refer to
for the appropriate user manual for your GuardLogix or Compact GuardLogix
controller.

Motion Direct Commands in Motion Control Systems

You can use the Motion Direct Command (MDC) feature to initiate motion
while the controller is in Program mode, independent of application code that
is executed in Run mode. These commands let you perform a variety of
functions, for example, move an axis, jog an axis, or home an axis.
A typical use might involve a machine integrator testing different parts of the
motion system while the machine is being commissioned or a maintenance
engineer, under certain restricted scenarios in accordance with safe machine
operating procedures, wanting to move an axis (like a conveyor) to clear a jam
before resuming normal operation.
Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
Additional Resources on page 13