<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<!--AMCI Absolute and Relative Moves-->
<RSLogix5000Content SchemaRevision="1.0" SoftwareRevision="20.05" TargetName="AMCI_NXFE2_MAM" TargetType="AddOnInstructionDefinition" TargetRevision="1.0 " TargetLastEdited="2025-12-23T16:56:14.507Z" ContainsContext="true" Owner="root" ExportDate="Fri Jan 02 09:34:56 2026" ExportOptions="References DecoratedData Context Dependencies ForceProtectedEncoding AllProjDocTrans">
<Controller Use="Context" Name="NXFE2_EDS_AOI_sample_RSLogix_V20">
<DataTypes Use="Context">
<DataType Name="AMCI_NXFE2_Output_Data" Family="NoFamily" Class="User">
<Members>
<Member Name="Command_Word_0" DataType="INT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
<Member Name="Command_Word_1" DataType="INT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
<Member Name="Position_or_Distance" DataType="DINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
<Member Name="Programmed_Speed" DataType="DINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
<Member Name="Acceleration" DataType="INT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
<Member Name="Deceleration" DataType="INT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
<Member Name="Reserved_Word_8" DataType="INT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
<Member Name="Reserved_Word_9" DataType="INT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
</Members>
</DataType>
<DataType Name="AMCI_NXFE2_Input_Data" Family="NoFamily" Class="User">
<Members>
<Member Name="ZZZZZZZZZZAMCI_NXFE20" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
<Member Name="MovingCW" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE20" BitNumber="0" ExternalAccess="Read/Write"/>
<Member Name="MovingCCW" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE20" BitNumber="1" ExternalAccess="Read/Write"/>
<Member Name="InHoldState" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE20" BitNumber="2" ExternalAccess="Read/Write"/>
<Member Name="Stopped" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE20" BitNumber="3" ExternalAccess="Read/Write"/>
<Member Name="AtHome" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE20" BitNumber="4" ExternalAccess="Read/Write"/>
<Member Name="Accelerating" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE20" BitNumber="5" ExternalAccess="Read/Write"/>
<Member Name="Decelerating" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE20" BitNumber="6" ExternalAccess="Read/Write"/>
<Member Name="MoveComplete" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE20" BitNumber="7" ExternalAccess="Read/Write"/>
<Member Name="ZZZZZZZZZZAMCI_NXFE29" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
<Member Name="HomeInvalid" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE29" BitNumber="0" ExternalAccess="Read/Write"/>
<Member Name="ProfileInvalid" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE29" BitNumber="1" ExternalAccess="Read/Write"/>
<Member Name="PositionInvalid" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE29" BitNumber="2" ExternalAccess="Read/Write"/>
<Member Name="InputError" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE29" BitNumber="3" ExternalAccess="Read/Write"/>
<Member Name="CommandError" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE29" BitNumber="4" ExternalAccess="Read/Write"/>
<Member Name="ConfigurationError" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE29" BitNumber="5" ExternalAccess="Read/Write"/>
<Member Name="ModuleOK" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE29" BitNumber="6" ExternalAccess="Read/Write"/>
<Member Name="ModeFlag" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE29" BitNumber="7" ExternalAccess="Read/Write"/>
<Member Name="ZZZZZZZZZZAMCI_NXFE218" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
<Member Name="CaptureInputActive" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE218" BitNumber="0" ExternalAccess="Read/Write"/>
<Member Name="ExternalInputActive" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE218" BitNumber="1" ExternalAccess="Read/Write"/>
<Member Name="HomeInputActive" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE218" BitNumber="2" ExternalAccess="Read/Write"/>
<Member Name="CWLimitActive" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE218" BitNumber="3" ExternalAccess="Read/Write"/>
<Member Name="CCWLimiitActive" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE218" BitNumber="4" ExternalAccess="Read/Write"/>
<Member Name="NoFaultOutputState" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE218" BitNumber="5" ExternalAccess="Read/Write"/>
<Member Name="OnLineOutputState" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE218" BitNumber="6" ExternalAccess="Read/Write"/>
<Member Name="MoveCompleteOutputState" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE218" BitNumber="7" ExternalAccess="Read/Write"/>
<Member Name="ZZZZZZZZZZAMCI_NXFE227" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
<Member Name="RunningBlendMove" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE227" BitNumber="0" ExternalAccess="Read/Write"/>
<Member Name="BlendMoveACK" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE227" BitNumber="1" ExternalAccess="Read/Write"/>
<Member Name="NonZeroMinRegDistance" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE227" BitNumber="2" ExternalAccess="Read/Write"/>
<Member Name="Reserved_bit_11" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE227" BitNumber="3" ExternalAccess="Read/Write"/>
<Member Name="BckplnHomeProxBitState" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE227" BitNumber="4" ExternalAccess="Read/Write"/>
<Member Name="EncoderFollowerMode" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE227" BitNumber="5" ExternalAccess="Read/Write"/>
<Member Name="Reserved_bit_14" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE227" BitNumber="6" ExternalAccess="Read/Write"/>
<Member Name="Reserved_bit_15" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZAMCI_NXFE227" BitNumber="7" ExternalAccess="Read/Write"/>
<Member Name="MotorPosition" DataType="DINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
<Member Name="EncoderPosition" DataType="DINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
<Member Name="CaptureData" DataType="DINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
<Member Name="Reserved_Word_8" DataType="INT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
<Member Name="NetworkConnectivity" DataType="INT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
</Members>
</DataType>
</DataTypes>
<AddOnInstructionDefinitions Use="Context">
<AddOnInstructionDefinition Use="Target" Name="AMCI_NXFE2_MAM" Revision="1.0" Vendor="AMCI" ExecutePrescan="false" ExecutePostscan="false" ExecuteEnableInFalse="true" CreatedDate="2011-05-06T14:19:37.914Z" CreatedBy="AMCI_HQ\jsutula" EditedDate="2025-12-23T16:56:14.507Z" EditedBy="AMCI-MC\jsutula"
 SoftwareRevision="v20.05">
<Description>
<![CDATA[AMCI Absolute and Relative Moves]]>
</Description>
<RevisionNote>
<![CDATA[V1.0 12/19/2025 Initial release of AOI.  Replaces the previous Absolute and Relative Move AOIs.   

]]>
</RevisionNote>
<AdditionalHelpText>
<![CDATA[MOTION AXIS MOVE: Performs Absolute or Relative Moves

AXIS INPUT DATA:  Input data from the NXFE2.   Uses the AMCI_NXFE2_Input_Data User Defined Data Type.  

AXIS OUTPUT DATA; Output data from the AOI to the AMCI NXFE2.    Uses the AMCI_NXFE2_Output_Data User Defined Data Type.  


MOVE TYPE: 0 = Absolute Move, 1 = Relative Move
TARGETPOSITION: Target Position of the Absolute Move or the distance to move of a Relative                                             Move.
TARGETVELOCITY: Speed of move in units of steps / sec
ACCELERATION: Acceleration Rate in units of steps / sec / ms
DECELERATION:  Deceleration Rate in units of steps / sec / ms

EN (Enable) Set when rung is true, Reset when rung is false
DN (Done) Set when command is sent to the motion device.  Reset when the rung is false.   
ER (Error) Set when a command or input error failed to clear.  Reset when the rung is false.  
IP (In Process) Set when motion is occurring.   Reset when motion stops or the rung goes false.   
PC (Process Complete) Set when the move is complete.  Reset the next time the rung with the AOI transitions                                       from False to True.     ]]>
</AdditionalHelpText>
<Parameters>
<Parameter Name="EnableIn" TagType="Base" DataType="BOOL" Usage="Input" Radix="Decimal" Required="false" Visible="false" ExternalAccess="Read Only">
<Description>
<![CDATA[Enable Input - System Defined Parameter]]>
</Description>
</Parameter>
<Parameter Name="EnableOut" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="false" ExternalAccess="Read Only">
<Description>
<![CDATA[Enable Output - System Defined Parameter]]>
</Description>
</Parameter>
<Parameter Name="NXFE2_Input_Data" TagType="Base" DataType="AMCI_NXFE2_Input_Data" Usage="InOut" Required="true" Visible="true" Constant="false"/>
<Parameter Name="NXFE2_Output_Data" TagType="Base" DataType="AMCI_NXFE2_Output_Data" Usage="InOut" Required="true" Visible="true" Constant="false"/>
<Parameter Name="Move_type_0_Absolute_1_Relative" TagType="Base" DataType="BOOL" Usage="Input" Radix="Decimal" Required="true" Visible="true" ExternalAccess="Read/Write">
<Description>
<![CDATA[0=absolute
1=relative]]>
</Description>
<DefaultData>00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="_0_normal_1_S_Curve_Acceleration" TagType="Base" DataType="BOOL" Usage="Input" Radix="Decimal" Required="false" Visible="false" ExternalAccess="Read/Write">
<DefaultData>00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="_0_Triangular_1_Trapezoidal_S_Curve" TagType="Base" DataType="BOOL" Usage="Input" Radix="Decimal" Required="false" Visible="false" ExternalAccess="Read/Write">
<DefaultData>00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="TargetPosition" TagType="Base" DataType="DINT" Usage="Input" Radix="Decimal" Required="true" Visible="true" ExternalAccess="Read/Write">
<DefaultData>00 00 00 00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="DINT" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="TargetVelocity" TagType="Base" DataType="DINT" Usage="Input" Radix="Decimal" Required="true" Visible="true" ExternalAccess="Read/Write">
<DefaultData>00 00 00 00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="DINT" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="Acceleration" TagType="Base" DataType="DINT" Usage="Input" Radix="Decimal" Required="true" Visible="true" ExternalAccess="Read/Write">
<DefaultData>00 00 00 00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="DINT" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="Deceleration" TagType="Base" DataType="DINT" Usage="Input" Radix="Decimal" Required="true" Visible="true" ExternalAccess="Read/Write">
<DefaultData>00 00 00 00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="DINT" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="EN" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read/Write">
<Description>
<![CDATA[set when rung with AOI is true]]>
</Description>
<DefaultData>00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="DN" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read Only">
<Description>
<![CDATA[set when move was succesfully initiated]]>
</Description>
<DefaultData>00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="ER" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read/Write">
<Description>
<![CDATA[set when input error, command error, or configuration error]]>
</Description>
<DefaultData>00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="IP" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read/Write">
<Description>
<![CDATA[set when motion occurring]]>
</Description>
<DefaultData>00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="PC" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read/Write">
<Description>
<![CDATA[set when process complete]]>
</Description>
<DefaultData>00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
</Parameters>
<LocalTags>
<LocalTag Name="command_data_block" DataType="INT" Dimensions="10" Radix="Decimal" ExternalAccess="Read/Write">
<DefaultData>00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00</DefaultData>
<Comments>
<Comment Operand="[0]">
<![CDATA[Command Word 0]]>
</Comment>
<Comment Operand="[1]">
<![CDATA[Target Position]]>
</Comment>
<Comment Operand="[1].0">
<![CDATA[Command Word 1]]>
</Comment>
<Comment Operand="[2]">
<![CDATA[Upper Target Position]]>
</Comment>
<Comment Operand="[3]">
<![CDATA[Acceleration]]>
</Comment>
<Comment Operand="[4]">
<![CDATA[Deceleration]]>
</Comment>
</Comments>
<DefaultData Format="Decorated">
<Array DataType="INT" Dimensions="10" Radix="Decimal">
<Element Index="[0]" Value="0"/>
<Element Index="[1]" Value="0"/>
<Element Index="[2]" Value="0"/>
<Element Index="[3]" Value="0"/>
<Element Index="[4]" Value="0"/>
<Element Index="[5]" Value="0"/>
<Element Index="[6]" Value="0"/>
<Element Index="[7]" Value="0"/>
<Element Index="[8]" Value="0"/>
<Element Index="[9]" Value="0"/>
</Array>
</DefaultData>
</LocalTag>
<LocalTag Name="motion_occurring" DataType="BOOL" Radix="Decimal" ExternalAccess="None">
<DefaultData>00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</DefaultData>
</LocalTag>
<LocalTag Name="Internal_Enable" DataType="BOOL" Radix="Decimal" ExternalAccess="None">
<Description>
<![CDATA[set when driver ready to receive motion command]]>
</Description>
<DefaultData>00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</DefaultData>
</LocalTag>
</LocalTags>
<Routines>
<Routine Name="EnableInFalse" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Text>
<![CDATA[XIC(EN)MOV(0,command_data_block[0])CPS(command_data_block[0],NXFE2_Output_Data.Command_Word_0,10);]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Text>
<![CDATA[OTU(EN)OTU(Internal_Enable)OTU(DN)OTU(ER)OTU(IP)OTU(motion_occurring);]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="Logic" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Text>
<![CDATA[OTL(EN);]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Text>
<![CDATA[XIO(Internal_Enable)XIO(motion_occurring)OTU(PC);]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Comment>
<![CDATA[If no motion is occurring, and the Move Complete bit is set, send the reset error command to reset the MOV Complete bit.   This will allow the PTO module to see a 0 to 1 transition of the absolute or relative Move command bit.   ]]>
</Comment>
<Text>
<![CDATA[XIO(NXFE2_Input_Data.MovingCW)XIO(NXFE2_Input_Data.MovingCCW)XIC(NXFE2_Input_Data.MoveComplete)XIO(Internal_Enable)MOV(512,command_data_block[0])CPS(NXFE2_Input_Data.MotorPosition,command_data_block[2],2)FLL(0,command_data_block[4],6);]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Comment>
<![CDATA[If the Move Type is 0, the following rung moves a decimal value of "1" (bit 0 set) to the MSW command word.  This commands the AMCI 5034-PTO-AM module to perform an Absolute Move.   ]]>
</Comment>
<Text>
<![CDATA[XIO(Move_type_0_Absolute_1_Relative)XIO(NXFE2_Input_Data.MovingCW)XIO(NXFE2_Input_Data.MovingCCW)XIO(NXFE2_Input_Data.MoveComplete)XIO(Internal_Enable)MOV(1,command_data_block[0])OTL(DN);]]>
</Text>
</Rung>
<Rung Number="4" Type="N">
<Comment>
<![CDATA[If the Move Type is 1, the following rung moves a decimal value of "2" (bit 1 set) to the MSW command word.  This commands the AMCI 5034-PTO-AM module to perform a Relative Move.   ]]>
</Comment>
<Text>
<![CDATA[XIC(Move_type_0_Absolute_1_Relative)XIO(NXFE2_Input_Data.MovingCW)XIO(NXFE2_Input_Data.MovingCCW)XIO(NXFE2_Input_Data.MoveComplete)XIO(Internal_Enable)MOV(2,command_data_block[0])OTL(DN);]]>
</Text>
</Rung>
<Rung Number="5" Type="N">
<Text>
<![CDATA[XIC(_0_normal_1_S_Curve_Acceleration)XIO(_0_Triangular_1_Trapezoidal_S_Curve)OTE(command_data_block[1].0);]]>
</Text>
</Rung>
<Rung Number="6" Type="N">
<Text>
<![CDATA[XIC(_0_normal_1_S_Curve_Acceleration)XIC(_0_Triangular_1_Trapezoidal_S_Curve)OTE(command_data_block[1].1);]]>
</Text>
</Rung>
<Rung Number="7" Type="N">
<Text>
<![CDATA[[XIC(NXFE2_Input_Data.InputError) ,XIC(NXFE2_Input_Data.CommandError) ,XIC(NXFE2_Input_Data.ConfigurationError) ]OTE(ER)MOV(0,command_data_block[0]);]]>
</Text>
</Rung>
<Rung Number="8" Type="N">
<Text>
<![CDATA[XIO(NXFE2_Input_Data.MovingCW)XIO(NXFE2_Input_Data.MovingCCW)XIO(NXFE2_Input_Data.MoveComplete)XIO(Internal_Enable)OTL(Internal_Enable);]]>
</Text>
</Rung>
<Rung Number="9" Type="N">
<Comment>
<![CDATA[The following rung moves a value of 0 to output word 0 while motion is occurring.  This will allow the AMCI 5034-PTO-AM to detect the next 0 to 1 transition of the command bit.     ]]>
</Comment>
<Text>
<![CDATA[XIC(Internal_Enable)[XIC(NXFE2_Input_Data.MovingCW) ,XIC(NXFE2_Input_Data.MovingCCW) ]MOV(0,command_data_block[0])OTL(motion_occurring)OTE(IP);]]>
</Text>
</Rung>
<Rung Number="10" Type="N">
<Text>
<![CDATA[XIC(Internal_Enable)[XIC(motion_occurring) XIO(NXFE2_Input_Data.MovingCW) XIO(NXFE2_Input_Data.MovingCCW) ,XIC(NXFE2_Input_Data.MoveComplete) ]OTL(PC);]]>
</Text>
</Rung>
<Rung Number="11" Type="N">
<Text>
<![CDATA[XIC(Internal_Enable)CPS(TargetPosition,command_data_block[2],2);]]>
</Text>
</Rung>
<Rung Number="12" Type="N">
<Text>
<![CDATA[XIC(Internal_Enable)CPS(TargetVelocity,command_data_block[4],2);]]>
</Text>
</Rung>
<Rung Number="13" Type="N">
<Comment>
<![CDATA[Move the acceleration value from outside the AOI instruction to word six of the ten word command block.  ]]>
</Comment>
<Text>
<![CDATA[XIC(Internal_Enable)MOV(Acceleration,command_data_block[6]);]]>
</Text>
</Rung>
<Rung Number="14" Type="N">
<Comment>
<![CDATA[Move the deceleration value from outside the AOI instruction to word seven of the ten word command block.  ]]>
</Comment>
<Text>
<![CDATA[XIC(Internal_Enable)MOV(Deceleration,command_data_block[7]);]]>
</Text>
</Rung>
<Rung Number="15" Type="N">
<Comment>
<![CDATA[Move the command block data internal to the Add on Instruction to the output registers assigned to the AMCI 5034-PTO-AM module.]]>
</Comment>
<Text>
<![CDATA[CPS(command_data_block[0],NXFE2_Output_Data.Command_Word_0,10);]]>
</Text>
</Rung>
</RLLContent>
</Routine>
</Routines>
<Dependencies>
<Dependency Type="DataType" Name="AMCI_NXFE2_Input_Data"/>
<Dependency Type="DataType" Name="AMCI_NXFE2_Output_Data"/>
</Dependencies>
</AddOnInstructionDefinition>
</AddOnInstructionDefinitions>
</Controller>
</RSLogix5000Content>
