Allen-Bradley 1756 ControlLogix - Motion Change Dynamics (MCD)

Chapter 2
Motion Move Instructions
138 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
This information applies to the CompactLogix 5370, ControlLogix 5570,
Compact GuardLogix 5370, GuardLogix 5570, Compact GuardLogix 5380,
CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix
5580 controllers. Controller differences are noted where applicable.
Use the Motion Change Dynamics (MCD) instruction to selectively change the
speed, acceleration rate, or deceleration rate of a move profile or a jog profile in
process.
Available Languages
Ladder Diagram
Function Block
This instruction is not available in function block.
Structured Text
MCD(Axis, MotionControl, MotionType, ChangeSpeed, Speed, ChangeAccel,
AccelRate, ChangeAccelJerk, AccelJerk, ChangeDecelJerk, ChangeDecel,
DecelRate, SpeedUnits, AccelUnits, DecelUnits, JerkUnits);
Motion Change Dynamics (MCD)