User Manual

60 Rockwell Automation Publication CC-QS033A-EN-P - February 2014
Appendix A Kinetix 3 Drive Component-class User-defined Functional Block
Table 7 - RA_Motion_Move_Cmd Inputs
Table 8 - RA_Motion_Move_Cmd Outputs
Variable Data type Description Range
FBEN BOOL Set this bit TRUE to enable the function block. 0, 1
AxisIn Axis_Ref Assign this to the motion axis created via the configurator. —
MoveMode INT 0: Maintenance mode, Jogging is permitted.
1: Velocity control, Motion is in Velocity Move mode.
2: Absolute control, Motion is in Absolute Position Move mode.
3: Relative control, Motion is in Relative Position Move mode.
0…3
PositionData Real Valid only in Mode 2 and 3.
2: Absolute position.
3: Relative position.
-3.40282347E+38…3.40282347E+38
VelocityData Real This value sets the speed of the motor. -3.40282347E+38…3.40282347E+38
AccData Real This value sets the acceleration of the motor. -3.40282347E+38…3.40282347E+38
DecData Real This value sets the deceleration of the motor. -3.40282347E+38…3.40282347E+38
JerkData Real This value sets the jerk of the motor. -3.40282347E+38…3.40282347E+38
DirData SINT Valid only in Velocity control mode. This value sets the rotating direction of the motor. -128…127
Execute BOOL Set this bit TRUE to execute motion. 0, 1
Halt BOOL Set this bit TRUE to stop motion. 0, 1
Jog_Positive BOOL Set this bit TRUE to execute jog in the positive direction.
Set this bit FALSE stops jog.
0, 1
Jog_Negative BOOL Set this bit TRUE to execute jog in the negative direction.
Set this bit FALSE stops jog.
0, 1
Variable Data type Description Range
FBENO BOOL This variable reflects the state of FBEN. 0, 1
AxisState USINT This value returns the status of the axis with respect to the motion currently in progress. 0…7
CurrentMoveMode INT This value returns the Current Move mode. 0…3
MoveDone BOOL When Move mode is:
0 or 1: This bit is TRUE when the motor has reached the set velocity.
2 or 3: This bit is TRUE when the motion is complete.
0, 1
MoveBusy BOOL This bit is TRUE when the motion axis is busy. 0, 1
MoveActive BOOL This bit is TRUE when the function block is in control of the axis. 0, 1
MoveAborted BOOL This bit is TRUE when the command was aborted by another command. 0, 1
Error BOOL This bit is TRUE when an error was detected. 0, 1
ErrorID UINT This value returns the motion error code. —
ErrorMsg String This value returns the command that caused the error. —