Rockwell Automation Publication 2080-RM001D-EN-E - February 2015 431
Chapter 17
Motion control instructions
Connected Components Workbench 2.0 and later includes a set of instructions
for programming and designing the motion of a particular axis using motion
control function blocks.
Tip:
Administrative function blocks support both PTO motion and Feedback motion.
The Motion control function blocks that support an FBAxis are: MC_ReadActualPosition and MC_ReadActualVelocity.
Function block Description
Administrative
MC_AbortTrigger on page 446 Abort function blocks which are connected to trigger events.
MC_Power on page 473 Controls the power stage (ON or OFF)
MC_ReadAxisError on page 485 Describes general axis errors
MC_ReadBoolParameter on page 491 Returns the value of a vendor specific parameter of type BOOL
MC_ReadParameter on page 495 Returns the value of a vendor specific parameter
MC_ReadStatus on page 498 Returns the status of the axis
MC_Reset on page 503 Resets all internal axis-related errors
MC_SetPosition on page 506 Shifts the coordinate system of an axis by manipulating the actual position
MC_TouchProbe on page 513 Records the axis position at a trigger event
MC_WriteBoolParameter on page 519 Modifies the value of a vendor specific parameter of type BOOL
MC_WriteParameter on page 523 Modifies the value of a vendor specific parameter
Motion
MC_Halt on page 449 Stop the axis under normal operating conditions
MC_Home on page 453 Commands the axis to perform the <search home> sequence
MC_MoveAbsolute on page 458 Commands a controlled motion to a specified absolute position
MC_MoveRelative on page 463
Commands a controlled motion of a specified distance relative to the actual position at the time
of the execution
MC_MoveVelocity on page 468 Commands a never ending controlled motion at a specified velocity
MC_ReadActualPosition on page 477 Returns the actual position of the FBAxis
Note: available in CCW 8 or later
MC_ReadActualVelocity on page 481 Returns the actual velocity of the FBAxis
Note: available in CCW 8 or later
MC_Stop on page 510 Commands a controlled motion stop
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