Chapter 17 Motion control instructions
438 Rockwell Automation Publication 2080-RM001D-EN-E - February 2015
For example, on a moving axis on a Ladder POU (state of a rung=true), an
MC_MoveRelative function block in the rung is scanned and the axis starts to
move. Before MC_MoveRelative completes, the state of the rung becomes False,
and MC_MoveRelative is no longer scanned. In this case, the state of the axis
cannot switch from Discrete Motion to StandStill, even after the axis fully stops,
and the velocity comes to 0.
Motion control function block parameter numbers
The following function blocks use specific parameter numbers when the function
blocks are programmed.
• MC_ReadParameter
• MC_ReadBoolParameter
• MC_WriteParameter
• MC_WriteBoolParameter
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