Chapter 17 Motion control instructions
450 Rockwell Automation Publication 2080-RM001D-EN-E - February 2015
Arguments
Parameter Parameter type Data type Description
EN Input BOOL Function block enable.
When EN = TRUE, execute current MC_Halt computation.
When EN = FALSE, there is no computation.
Applies only to LD programs.
AxisIn Input AXIS_REF See also AXIS_REF data type on page 442.
Execute Input BOOL When TRUE, start the motion at rising edge.
Note: Executing MC_Halt during homing, MC_Halt is set to MC_FB_ERR_STATE
and the homing process continues.
Deceleration Input REAL Value of the deceleration (always positive) (decreasing energy of the motor).
Note: If Deceleration <= 0 and the axis state is not Standstill, MC_Halt is set to
MC_FB_ERR_RANGE.
Jerk Input REAL Value of the Jerk (always positive).
Note: If Jerk < 0 and the axis state is Standstill, MC_Halt is set to
MC_FB_ERR_RANGE.
BufferMode Input SINT Not used. The mode is always MC_Aborting.
ENO Output BOOL Enable out.
Applies only to LD programs.
Axis Output AXIS_REF Axis output is read-only in LD programs.
See also AXIS_REF data type on page 442.
Done Output BOOL Zero velocity reached.
Busy Output BOOL The function block is not finished.
Active Output BOOL Indicates that the function block has control on the axis.
CommandAborted Output BOOL Command is aborted by another command, or error stop.
Error Output BOOL FALSE - No error.
TRUE - An error is detected.
ErrorID Output UINT Error identification.
See also Motion control function block error IDs on page 440.
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