Allen-Bradley Micro800 General Instructions Manual page 450

Chapter 17
Motion control instructions
Parameter
EN
AxisIn
Execute
Deceleration
Jerk
BufferMode
ENO
Axis
Done
Busy
Active
CommandAborted
Error
ErrorID
450
Arguments
Parameter type Data type
Input BOOL
Input AXIS_REF
Input BOOL
Input REAL
Input REAL
Input SINT
Output BOOL
Output AXIS_REF
Output BOOL
Output BOOL
Output BOOL
Output BOOL
Output BOOL
Output UINT
Rockwell Automation Publication 2080-RM001D-EN-E - February 2015
Description
Function block enable.
When EN = TRUE, execute current MC_Halt computation.
When EN = FALSE, there is no computation.
Applies only to LD programs.
See also AXIS_REF data type on page 442.
When TRUE, start the motion at rising edge.
Note: Executing MC_Halt during homing, MC_Halt is set to MC_FB_ERR_STATE
and the homing process continues.
Value of the deceleration (always positive) (decreasing energy of the motor).
Note: If Deceleration <= 0 and the axis state is not Standstill, MC_Halt is set to
MC_FB_ERR_RANGE.
Value of the Jerk (always positive).
Note: If Jerk < 0 and the axis state is Standstill, MC_Halt is set to
MC_FB_ERR_RANGE.
Not used. The mode is always MC_Aborting.
Enable out.
Applies only to LD programs.
Axis output is read-only in LD programs.
See also AXIS_REF data type on page 442.
Zero velocity reached.
The function block is not finished.
Indicates that the function block has control on the axis.
Command is aborted by another command, or error stop.
FALSE - No error.
TRUE - An error is detected.
Error identification.
See also Motion control function block error IDs on page 440.