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Rockwell Automation Publication 2080-UM002L-EN-E - November 2021
Chapter 7 Motion Control
IMPORTANT
If an output is configured for motion, then that output can no longer be
controlled or monitored by the user program and cannot be forced. For
example, when a PTO Pulse output is generating pulses, the corresponding
logical variable IO_EM_DO_xx will not toggle its value and will not display the
pulses in the Variable Monitor but the physical LED will give an indication.
If an input is configured for motion, then forcing the input only affects the
user program logic and not motion. For example, if the input Drive Ready is
false, then the user cannot force Drive Ready to true by forcing the
corresponding logical variable IO_EM_DI_xx to be true.
Motion Wiring Input/Output Description
Motion Signals
Input/Output
Description
Uniqueness
PTO pulse
OUTPUT
PTO pulse from the embedded fast output, to be
connected to Drive PTO input.
Not Shared
PTO direction
OUTPUT
PTO pulse direction indication, to be connected to
Drive Direction input.
Not Shared
Servo/Drive On
OUTPUT
The control signal used to activate/deactivate Servo/
Drive.
This signal becomes Active when MC_Power (on) is
commanded.
Can be shared
with more than
one drive
Lower (Negative) Limit
switch
INPUT
The input for hardware negative limit switch, to be
connected to mechanical/electrical negative limit
sensor.
Not Shared
Upper (Positive) Limit
switch
INPUT
The input for hardware positive limit switch, to be
connected to mechanical/electrical positive limit
sensor.
Not Shared
Absolute Home switch INPUT
The input for hardware home switch (sensor), to be
connected to mechanical/electrical home sensor.
Not Shared
Touch Probe Input
switch
INPUT
The input for hardware touch probe signal, to be used
with Motion MC_TouchProbe and MC_AbortTrigger
function blocks to capture axis commanded position
during the motion path.
Not Shared
Servo/Drive Ready
INPUT
The input signal that indicates Servo/Drive is ready to
receive PTO pulse and direction signal from
controller.
No moving function blocks can be issued to an axis
before the axis has this signal ready if this signal is
Enabled in the motion axis configuration or axis
properties page.
Can be shared
with more than
one drive
In-Position signal
(from Servo/motor)
INPUT
The input signal that indicates the moving part is in
the commanded position. This signal has to be Active
after the moving part reaches the commanded
position for MoveAbsolute and MoveRelative function
blocks.
For MoveAbsolute and MoveRelative function blocks,
when In_Position is enabled, the controller will report
an error (EP_MC_MECHAN_ERR) if the signal is not
active within 5 seconds when the last PTO pulse sent
out.
Not Shared
Home Marker
INPUT
This signal is the zero pulse signal from the motor
encoder. This signal can be used for fine homing
sequence to improve the homing accuracy.
Not Shared
