Allen-Bradley Micro800 General Instructions Manual page 459

Arguments
Parameter Parameter
type
EN Input
AxisIn Input
Execute Input
Position Input
Velocity Input
Acceleration Input
Deceleration Input
Jerk Input
Direction Input
BufferMode Input
ENO Output
Axis Output
Done Output
Rockwell Automation Publication 2080-RM001D-EN-E - February 2015
Data type Description
BOOL Function block enable.
When EN = TRUE, execute current MC_MoveAbsolute computation.
When EN = FALSE, there is no computation.
Applies only to LD programs.
AXIS_REF See also AXIS_REF data type
BOOL When TRUE, starts the motion at rising edge.
The axis should be in the home position when this execute command is issued or an error
occurs, MC_FB_ERR_NOT_HOMED.
REAL Target position for the motion in technical unit (negative or positive).
Note: The technical unit is defined in the Motion - General configuration page for an axis.
REAL Value of the maximum velocity.
The maximum velocity may not be reached when Jerk = 0.
The sign of Velocity is ignored, the motion direction is determined by the input Position.
REAL Value of the acceleration (always positive - increasing energy to the motor.)
user unit/sec 2
REAL Value of the deceleration (always positive - decreasing energy to the motor).
u/sec 2
REAL Value of the Jerk (always positive).
u/sec
3
Note: When the value of the input Jerk = 0, the Trapezoid profile is calculated by Motion Engine.
When Jerk > 0, the S-Curve profile is calculated.
SINT This parameter is not used.
SINT This parameter is not used.
BOOL Enable out
Applies only to LD programs.
AXIS_REF Axis output is read-only in LD programs.
See also AXIS_REF data type
BOOL When TRUE, command position reached.
When the In-Position Input is configured as Enabled for this axis, the drive needs to set In-
Position Input signal active before this Done bit goes to True.
This action completes with velocity zero unless it is aborted.
Motion control instructions
on page 442.
on page 442.
Chapter 17
459