124 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
MoveLockStatus 22 MAM is Locked to Master in MDSC Mode (TRUE state).
The bit is cleared when a MGS, MGSD, MAS, or MASD is executed (goes IP).
If either the Slave or Master axis (or both) is paused by changing its speed to 0, then the
MoveLockStatus bit stays set.
Master Driven Mode
The bit is set when the Lock Direction request is satisfied.
The bit is not used when the enumeration is NONE.
For the enumerations Immediate Forward Only and Immediate Reverse Only, the
MamLockStatus bit is set immediately when the MAM is initiated.
For the enumeration Position Forward Only and Position Reverse Only, the bit is set when
the Master Axis crosses the Master Lock Position in the specified direction.
The MoveLockStatus bit is cleared when the Master Axis reverses direction and the Slave
Axis stops following the Master Axis. The MoveLockStatus bit is set again when the Slave
Axis resumes following the Master Axis.
Time Driven Mode
The bit is not used when the enumeration is NONE.
JogLockStatus 24 The axis is not in a Jog Locked condition (FALSE state).
MasterOffsetMoveLockStatus 26 Master offset Move is Locked to master in MDSC Mode (TRUE state).
MaximumSpeedExceeded 27 Sets when the maximum axis speed that is specified in the axis configuration is exceeded
during a move (TRUE state). Clears when the speed is reduced below the limit (FALSE
state).
Motion Status Bits
If the Move Type Is And Merge is Then the Instruction Changes These Bits
Bit Name State Meaning
NOT Absolute Master Offset or Incremental Master
Offset
Disabled MoveStatus TRUE Axis is Moving.
Enabled MoveStatus TRUE Axis is Moving.
JogStatus FALSE Axis is no longer Jogging.
GearingStatus FALSE Axis is no longer Gearing.
Absolute Master Offset or Incremental Master
Offset
MasterOffsetMoveStatus TRUE Axis is Offset.
Merging in Incremental Mode
The Merge for MAM operates differently from a merge on a Motion Coordinated
Linear Move (MCLM) instruction. For the MAM, any uncompleted motion at
the point of the merge remains in the move. For example, assume that you have a
single axis MAM programmed in incremental mode from a starting absolute
position = 0 and with the programmed incremental distance = 4 units. If a merge
occurs at an absolute position of 1 and the merge is another incremental move of 4
units, the move completes at a position = 8.
If this example occurs on a Motion Coordinated Linear Move (MCLM)
instruction programmed in incremental mode, the final position = 5.
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