Motion control instructions Chapter 17
Rockwell Automation Publication 2080-RM001D-EN-E - February 2015 507
Arguments
Parameter Parameter type Data type Description
EN Input BOOL Function block enable.
When EN = TRUE, execute current MC_SetPosition computation.
When EN = FALSE, there is no computation.
Applies only to LD programs.
AxisIn Input AXIS_REF
FB_AXIS_REF
See also AXIS_REF data type on page 433.
See also FB_AXIS_REF data type on page 434.
Execute Input BOOL When TRUE, starts setting the axis position.
Position Input REAL The absolute position or relative distance to be set for the axis.
Relative Input BOOL When TRUE, set the relative distance for the axis.
When FALSE, set the absolute position for the axis.
MC_ExecutionMode Input SINT Values are:
• 0 (mcImmediately) - The functionality is immediately valid.
• 1 (mcQueued) - The new functionality becomes valid when:
• all previous motion commands set one of the following output
parameters: Done, Aborted or Error.
• the axis is not in a moving state.
For (MC_ExecutionMode = 0), this function block can only successfully complete
when the axis state is Disabled or StandStill. The execution of this function block
reports an error if there is on-going non-Continuous motion with the axis in this
mode.
For (MC_ExecutionMode = 1), this function block can only successfully complete
when the axis state is Disabled, Standstill, or the on-going motion can complete,
ending with a Standstill state.
Other input values are reserved currently, and are considered as invalid parameters.
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 When TRUE, the Position has new value.
Busy Output BOOL When TRUE, the function block is not finished.
Error Output BOOL When TRUE, an error was detected.
ErrorID Output UINT Error identification.
See also Motion control function block error IDs on page 440.
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