Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 149
This information applies to the CompactLogix 5370, ControlLogix 5570,
Compact GuardLogix 5370, GuardLogix 5570, Compact GuardLogix 5380,
CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers. Controller differences are noted where applicable.
Use the Motion Redefine Position (MRP) instruction to change the command or
actual position of an axis. The value specified by Position is used to update the
Actual or Command position of Axis. The position redefinition can be calculated
on an Absolute or Relative basis. If Absolute is selected the Position value is
assigned to the current Actual or Command position. If Relative is selected the
Position value is added as a displacement to the current Actual or Command
position. The process of redefining the current axis position has no affect on
motion in progress as the instruction preserves the current servo following error
during the redefinition process. As a result, axis position can be redefined
on-the-fly without disturbing axis motion.
Available Languages
Ladder Diagram
Function Block
This instruction is not available in function block.
Structured Text
MRP(Axis,MotionControl,Type,PositionSelect,Position);
Motion Redefine Position (MRP)
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