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Rockwell Automation Publication CC-QS033A-EN-P - February 2014 61

Kinetix 3 Drive Component-class User-defined Functional Block Appendix A

Figure 8 - RA_Motion_Move_Cmd Function Block Flowchart

Start

Select Move

Mode

Error?

Correct

Parameter

Read

Motion

Parameters

Execute

Halt?

Execute

Move?

Stop PTO

Motion

Error?

Await

Action

Completed

End

Start PTO

Yes

No

Yes

No

Yes

No

Yes

No

Yes

Axis

Error?

No

Motion

Error?

Correct

Parameter

Servo Off

Servo On

Clear Fault

Yes