92 Rockwell Automation Publication 2080-UM002L-EN-E - November 2021
Chapter 7 Motion Control
Axis State Update
On motion execution, although the motion profile is controlled by Motion
Engine as a background task, which is independent from POU scan, axis state
update is still dependent on when the relevant motion function block is called
by the POU scan.
For example, on a moving axis on a Ladder POU (state of a rung=true), an
MC_MoveRelative function block in the rung is scanned and the axis starts to
move. Before MC_MoveRelative completes, the state of the rung becomes
False, and MC_MoveRelative is no longer scanned. In this case, the state of this
axis cannot switch from Discrete Motion to StandStill, even after the axis fully
stops, and the velocity comes to 0.
Limits
The Limits parameter sets a boundary point for the axis, and works in
conjunction with the Stop parameter to define a boundary condition for the
axis on the type of stop to apply when certain configured limits are reached.
There are three types of motion position limits.
•Hard Limits
•Soft Limits
•PTO Pulse Limits
See Motion Axis Configuration in Connected Components Workbench on
page 101 for information on how to configure limits and stop profiles and the
acceptable value range for each.
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