Rockwell Automation 2080-L50E-24AWB, Руководство пользователя, Страница: 177 / 390

Rockwell Automation Publication 2080-UM002N-EN-E - November 2022 177
Chapter 9 Motion Control
MC_MoveAbsolute function block to an axis with too short a distance given when the
axis is moving.
• When one movement function block is issued to an axis, and the axis is in the Stopping
or Error Stopping sequence.
For the above exceptions, it is still possible for the user application to issue a successful
movement function block to the axis after the axis state changes.
MC_Engine_Diag Data Type
The MC_Engine_Diag data type contains diagnostic information on the embedded motion
engine. It can be monitored in debug mode through the Connected Components Workbench
software when the motion engine is active, or through the user application as part of user
logic. It can also be monitored remotely through various communication channels.
One MC_Engine_Diag instance is created automatically in the Connected Components
Workbench software when the user adds the first motion axis in the motion configuration. This
instance is shared by all user-configured motion axes.
Function Block and Axis
Status Error Codes
All motion control function blocks share the same ErrorID definition.
Axis error and function block error share the same Error ID, but error descriptions are
different, as described in Table 27 on page 178 .
Data Elements for MC_Engine_Diag
Element Name Data Type
MCEngState UINT16
CurrScantime
(1)
(1) The time unit for this element is microsecond. This diagnostic information can be used to optimize motion configuration and
user application logic adjustment.
UINT16
MaxScantime
(1)
UINT16
CurrEngineInterval
(1)
UINT16
MaxEngineInterval
(1)
UINT16
ExtraData UINT16
MCEngstate States
State Name State Description
MCEng_Idle 0x01
MC engine exists (at least one axis defined), but the engine is idle as there is
no axis is moving. The Engine diagnostic data is not being updated.
MCEng_Running 0x02
MC engine exists (at least one axis defined) and the engine is running. The
diagnostic data is being updated.
MCEng_Faulted 0x03 MC engine exists, but the engine is faulted.
Error code 128 is warning information to indicate the motion profile has
been changed and velocity has been adjusted to a lower value but the
function block can execute successfully.