Mc_Setposition - Allen-Bradley Micro800 General Instructions Manual

Programmable controllers

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Table of Contents

Motion control instructions

MC_SetPosition

MC_SetPostion shifts the coordinate system of an axis by manipulating the actual

position of an axis with the same value without causing any movement.

MC_SetPosition operation

The MC_SetPostion function block can successfully complete only when

the axis state is StandStill, continuous Motion (MC_ExecutionMode = 0),

or when the on-going motion completes, and ends with a StandStill state

(MC_ExecutionMode = 1).

The MC_SetPosition function block operates the same as MC_Home

when the HomingMode = MC_HOME_DIRECT (0x04), except the

MC_Home function block sets the Axis Homed status.

When MC_ExecutionMode = 0 (mcImmediately), the execution of the

MC_SetPosition function block reports an error if there is on-going non-

continuous motion with the axis.

When MC_ExecutionMode = 1 (mcQueued), the actual position setting

occurs only when all previous on-going motion stops. That is, each previous

function block must have at least one of the Done, Aborted, or Error

outputs equal to True.

Rockwell Automation Publication 2080-RM001D-EN-E - February 2015