Cartesian coordinate system
44 Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Step = 3.
When an instruction completes, it is removed from the queue and there is space
for another instruction to enter the queue. Both bits always have the same value
because you can queue only one pending instruction at a time. If the application
requires several instructions to be executed in sequence, the bits are set by using
these parameters.
When Then
One instruction is active and a second instruction is
pending in the queue
MovePendingStatus bit = 1
• MovePendingQueueFullStatus bit = 1
• You cannot queue another instruction
An active instruction completes and leaves the queue
• MovePendingStatus bit = 0
• MovePendingQueueFullStatus bit = 0
• You can queue another instruction
The termination type operand for the MCLM or MCCM instruction specifies
how the currently executing move gets terminated. These illustrations show the
states of instruction bits and coordinate system bits that get affected at various
transition points (TP).
The termination types are:
• 0 - Actual tolerance
• 1 - No Settle
• 2 - Command Tolerance
• 3 - No Decel
• 4 - Follow Contour Velocity Constrained
• 5 - Follow Contour Velocity Unconstrained
• 6 - Command Tolerance Programmed
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