Rockwell Automation 2080-L50E-24AWB, Руководство пользователя, Страница: 162 / 390

162 Rockwell Automation Publication 2080-UM002N-EN-E - November 2022
Chapter 9 Motion Control
Motion Control Function
Blocks
Motion control function blocks instruct an axis to a specified position, distance, velocity, and
state.
Function Blocks are categorized as Movement (driving motion) and Administrative.
Administrative Function Blocks
Function Block Name Function Block Name
MC_Power MC_ReadAxisError
MC_Reset MC_ReadParameter
MC_TouchProbe MC_ReadBoolParameter
MC_AbortTrigger MC_WriteParameter
MC_ReadStatus MC_WriteBoolParameter
MC_SetPosition
WARNING: During Run Mode Change (RMC), the MC_Power function block should
be disabled, which will power down the axis. Otherwise the axis will remain
powered even if the function block is deleted.
Take note of the following:
• If a new instance of MC_Power accesses the axis, the axis will enter the error
stop state.
• If MC_Power is inside a UDFB and any edit is made to the UDFB that changes
the UDFB template (for example, adding a local variable), the axis will enter
the error stop state.
Movement Function Blocks
Function Block Name Description
Correct Axis State for issuing
Function Block
MC_MoveAbsolute
This function block commands an axis to a
specified absolute position.
Standstill, Discrete Motion,
Continuous Motion
MC_MoveRelative
This function block commands an axis of a
specified distance relative to the actual position
at the time of execution.
Standstill, Discrete Motion,
Continuous Motion
MC_MoveVelocity
This function block commands a never-ending
axis move at a specified velocity.
Standstill, Discrete Motion,
Continuous Motion
MC_Home
This function block commands the axis to
perform the “search home” sequence. The
“Position” input is used to set the absolute
position when reference signal is detected, and
configured Home offset is reached. This
function block completes at “StandStill” if the
homing sequence is successful.
Standstill
MC_Stop
This function block commands an axis stop and
transfers the axis to the state “Stopping”. It
aborts any ongoing function block execution.
While the axis is in state Stopping, no other
function block can perform any motion on the
same axis. After the axis has reached velocity
zero, the Done output is set to TRUE
immediately. The axis remains in the state
“Stopping” as long as Execute is still TRUE or
velocity zero is not yet reached. As soon as
“Done” is SET and “Execute” is FALSE the axis
goes to state “StandStill”.
Standstill, Discrete Motion,
Continuous Motion, Homing
MC_Halt
This function block commands an axis to a
controlled motion stop. The axis is moved to the
state “Discrete Motion”, until the velocity is zero.
With the Done output set, the state is
transferred to “StandStill”.
Standstill, Discrete Motion,
Continuous Motion
ATTENTION: During Run Mode Change, the Movement Function Blocks can
only be deleted when that Function Block has been done or aborted.
Otherwise unintended axis and Function Block behavior may occur.