158 Rockwell Automation Publication 2080-UM002N-EN-E - November 2022
Chapter 9 Motion Control
Use the Micro800 Motion Control Feature
The Micro800 motion control feature has the following elements. New users need to have a
basic understanding of the function of each element to effectively use the feature.
To use the Micro800 motion feature, you need to:
1. Configure the Axis Properties
See Motion Axis Configuration in Connected Components Workbench
on page 180 for
instructions.
2. Write your motion program through the Connected Components Workbench software
For instructions on how to use the Micro800 motion control feature, see the quickstart
instructions, Use the Motion Control Feature on Micro800 Controllers, publication 2080-
QS001.
ATTENTION: To use the Micro800 Motion feature effectively, users need to
have a basic understanding of the following:
• PTO components and parameters
See Use the Micro800 Motion Control Feature
on page 158 for a general
overview of Motion components and their relationships.
• Programming and working with elements in the Connected Components
Workbench software
The user needs to have a working knowledge of ladder diagram, structured
text, or function block diagram programming to be able to work with motion
function blocks, variables, and axis configuration parameters.
ATTENTION: To learn more about Connected Components Workbench
software and detailed descriptions of the variables for the Motion Function
Blocks, you can refer to Connected Components Workbench software Online
Help that comes with your Connected Components Workbench software
installation.
IMPORTANT The PTO function can only be used with the controller’s embedded I/O. It
cannot be used with expansion I/O modules.
Components of Motion Control
Element Description Page
Pulse Train Outputs
Consists of one pulse output and one
direction output. A standard interface to
control a servo or stepper drive.
• Input and Output Signals on
page 159
Axis
From a system point of view, an axis is a
mechanical apparatus that is driven by a
motor and drive combination. The drive
receives position commands through the
Micro800 pulse train outputs interface based
on the PLC execution of motion function
blocks.
On the Micro800 controller, it is a pulse train
output and a set of inputs, outputs, and
configuration.
• Motion Axis and Parameters
on
page 170
• Motion Axis Configuration in
Connected Components Workbench
on page 180
Motion Function Blocks
A set of instructions that configure or act
upon an axis of motion.
• Connected Components Workbench
Online Help
• Motion Control Function Blocks
on
page 162
• Axis_Ref Data Type on page 175
• Function Block and Axis Status Error
Codes on page 177
• Homing Function Block on page 190
Jerk
Rate of change of acceleration. The Jerk
component is mainly of interest at the start
and end of motion. Too high of a Jerk may
induce vibrations.
• See Acceleration, Deceleration, and
Jerk Inputs on page 163.
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