Chapter 17 Motion control instructions
524 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_WriteParameter 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, writes the value of the parameter at the rising edge.
ParameterNumber Input DINT Parameter identification.
See also Motion control function block parameter numbers on page 438.
Value Input REAL New value of the specified parameter.
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
• implies that the output parameter Busy is set to FALSE.
Note: When (MC_ExecutionMode = 0), for all parameters except Duty Cycle
(1005), this FB can be completed successfully only when the axis state is Disabled
or StandStill,
When (MC_ExecutionMode = 0), for Parameter Duty Cycle (1005), this FB can be
completed successfully except the axis is in Homing or ErrorStop state.
For (MC_ExecutionMode = 1), this function block can be successfully
completed only when the axis state is Disabled, Standstill, or the on-going
motion can complete, ending with 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 parameter was successfully written.
Busy Output BOOL When TRUE, indicates the function block has control of the axis.
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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