Chapter 17 Motion control instructions
506 Rockwell Automation Publication 2080-RM001D-EN-E - February 2015
MC_SetPostion shifts the coordinate system of an axis by manipulating the actual
position of an axis with the same value without causing any movement.
MC_SetPosition operation
• The MC_SetPostion function block can successfully complete only when
the axis state is StandStill, continuous Motion (MC_ExecutionMode = 0),
or when the on-going motion completes, and ends with a StandStill state
(MC_ExecutionMode = 1).
• The MC_SetPosition function block operates the same as MC_Home
when the HomingMode = MC_HOME_DIRECT (0x04), except the
MC_Home function block sets the Axis Homed status.
• When MC_ExecutionMode = 0 (mcImmediately), the execution of the
MC_SetPosition function block reports an error if there is on-going non-
continuous motion with the axis.
• When MC_ExecutionMode = 1 (mcQueued), the actual position setting
occurs only when all previous on-going motion stops. That is, each previous
function block must have at least one of the Done, Aborted, or Error
outputs equal to True.
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