Rockwell Automation Publication 2080-UM002L-EN-E - November 2021 87
Chapter 7 Motion Control
When a movement function block is busy, a function block with a different
instance (for example, MC_MoveRelative1 and MC_MoveAbsolute1 on the
same axis) can abort the currently executing function block. This is mostly
useful for on-the-fly adjustments to position, velocity, or to halt after a specific
distance.
Example: Move to Position Ignored Due to Busy
Velocity
Time
Execute1
Busy1
Velocity
Time
Execute1
Busy1
This command is ignored
Simple move position using one instance
of MC_MoveRelative, MC_MoveAbsolute
For simple moves, the movement
function block finishes. Busy output
indicates that the function block is
executing and must be allowed to finish
before Execute input is toggled again.
If Execute is toggled again before Busy
is false, the new command is ignored.
No error is generated.
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