Multi-Axis Coordinated Motion Instructions
414 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.
Use the MCCM instruction to initiate a two or three-dimensional circular
coordinated move for the specified axes within a Cartesian coordinate system.
New position is defined as either an absolute or incremental position and done at
the desired speed. The actual speed of the MCCM is a function of the mode of the
move (commanded speed or percent of maximum speed). The speed of the move is
based on the time it takes to complete the circular move using the programmed
axes. Each axis is commanded to move at a speed that allows for all axes to reach
the endpoint (target position) at the same time.
The dimension of the circle is defined by the number of axes contained within the
coordinate system. For example, if you have a coordinate system that contained
three axes with an MCCM instruction that has motion in only two dimensions,
the resultant move is still considered a three-dimensional arc or circle.
Important:
Tags used for the motion control attribute of instructions should only be used once. Re-use of the
motion control tag in other instructions can cause unintended operation. This may result in
damage to equipment or personal injury.
Motion Coordinated Circular
Move (MCCM)
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