text: <s>[INST] Controllogix Motion Control Project I have a new project that has >20 K6000 axis implemented. These axis will be using the following modes1. Position Control2. Torque Control3. Sensor based positioning4. Camming5. Gearing So far i have divided the critical axis in to two motion groups to keep the course update rate at a minimum1. 1756-MO16SE will be used for 14 axis (Positioning, Torque Control, Gearing)2. 1756-MO8SE will be used for 6 axis (Positioning, Sensor based positioning, Camming, Gearing) There will also be a number of IO and VSD's to be controlled in the system I have chosen a single 1756-L61 processor at this stage for the system.I know the 1756-L7X processors are on the way but i dont have any specs... My questions are:What are the limitations of running multiple axis on one processor?,When do you need to implement a second processor?Are there any other unknowns or limiting factors that arent in the manuals?What other successfull applications with this approximate qantity of axis have been implemented using these products? [/INST] Donovan, You can run up to 32 axis on one control logix processor. One processor can only have one motion group. You can put it into as many sercos cards you want. The limitation is that you need to make the course update time a multiple of the sercos ring time. All sercos ring times must be the same. Then the faster you update the motion task the more time is set as side just for motion. You can set the processor to run 2ms course update periods but with 20 axis this will be all of the processor time. you may even get a overlap fault at that rate. I have done a project with 28 axis in one controller 17 servo 4 feedback only and 6 virtual. It was setup to have 8ms C.U.P. and all it did was motion. All of the tasks ran at 10ms periodic. I used a UDT and produce and consume tags to get the information to the line controller (2nd 1756-L62). The line controller monitored all of the I/O nodes (30 Ethernet nodes) and operator interfaces (6 PV+700s). I used 5 racks of K6K drives all BM05's. It took up 4 door cabinet just for the servos and VFD's. I used a 4 slot PLC rack that had an L61, M16SE, M16SE, and ENBT. Everything talked over ethernet to 2nd rack that was in a 2 door enclosure. It was a 17 slot chassis that had 3 ENBT cards 2 DHRIO, 1 DNB and some I/O. I can confirm it can be done in one but you need to be mindful that it takes a lot of processor to just run a motion application that controls that many motors. I would highly recommend at least 2 processors. Even with 2 processors you will find that you have to program conservatively to make sure things are not scanned when they are not required. One other note L61,L62,L63 processors all have the same SPEED. The memory is the only thing that is different. Don't let someone sell you a L63 because it is faster. I hope this helps. -Paul \\n </s>