154 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
MRP Changes to Single Axis Status Bits
The AxisHomedStatus bit is not impacted by the execution of the MRP
instruction. The status is the same before and after the MRP is execution. If the
axis has been homed using the absolute home procedure, the
AbsoluteReferenceStatus is set. AxisHomedStatus may also be set is the axis has
not been subject to a power cycle. AbsoluteReferenceStatus is cleared when the
MRP is executed and this is only true to Axis_Servo_Drive axis. This indicates the
axis position is no longer referenced to the absolute home position.
Examples
Example 1
Ladder Diagram
Example 2
Ladder Diagram
See also
Structured Text Syntax on page 635
MRP Flow Chart (True) on page 155
Motion Error Codes (.ERR) on page 557
Motion Move Instructions on page 83
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