Multi-Axis Coordinated Motion Instructions
378 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Available Languages
Ladder Diagram
Function Block
This instruction is not available in function block.
Structured Text
MCPM (CoordinateSystem, MotionControl, Path, Length, Dynamics,
LockPosition, LockDirection);
Operands
Important:
Do not use the same tag name for more than one instruction in the same
program. Do not write to any instruction output tag under any
circumstances.
ATTENTION: If instruction operands are changed while in Run mode, the pending edits
must be accepted and the controller mode cycled from Program to Run for the changes to
take effect.
Configuration
The following table provides the operands used to configure the instruction.
These operands cannot be changed at runtime.
Operand Data Type Format Description
Coordinate System COORDINATE_SYSTEM Tag Cartesian coordinate system used to program the
moves.
Motion Control MOTION_INSTRUCTION Tag Structure used to access instruction status
parameters.
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