344 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Bit Motion Status Description
12 Gearing Lock Status
The GearingLockStatus bit attribute is set whenever the slave axis is locked to the
master axis in a gearing relationship according to the specified gear ratio.
The clutch function of the gearing planner is used to ramp an axis up, or down, to speed
in a gearing process (MAG with Clutch selected). During the intervals where the axis is
clutching, the GearingLockStatus bit is clear.
13
Position Cam Lock
Status
The PositionCamLockStatus bit attribute is set whenever the master axis satisfies the
starting condition of a currently active Position Cam motion profile. The starting
condition is established by the Start Control and Start Position parameters of the MAPC
instruction.
As soon as the current position cam profile completes, or is superseded by some other
motion operation, the Position Cam Lock bit is cleared. In unidirectional master
direction mode, the PositionCamLockStatus bit clears when moving in the wrong
direction and sets when moving in the correct direction.
15
Master Offset Move
Status
The MasterOffsetMoveStatus bit attribute is set if a Master Offset Move motion profile is
currently in progress.
As soon as the Master Offset Move is complete or superseded by some other motion
operation, the MasterOffsetMoveStatus bit is cleared.
16
Coordinated Motion
Status
The CoordinatedMotionStatus bit attribute is set if any coordinated motion profile is
currently active upon this axis.
As soon as the Coordinated Motion is complete or stopped, the
CoordinatedMotionStatus bit is cleared.
17
Transform State
Status
The Transform State Status bit is set if the axis in involved in a transform. The axis is in
one of the coordinate systems specified in an active MCT instruction. True will indicate
the axis is involved in a transform, false will indicate it is not.
18
Controlled By
Transform Status
The Controlled By Transform Status bit is set if the axis is under transform control. True
indicates the axis is under transform control and false indicates it is not under transform
control. An axis under transform control cannot be commanded to move.
19
Direct Velocity Control
Status
When the Direct Velocity Control Status bit is set, the axis speed is directly controlled by
the Direct Command Velocity value.
This bit is set by the Motion Drive Start instruction (MDS) and only applies to CIP Drive
axis types.
20
Direct Torque Control
Status
When the Direct Torque Control Status bit is set, the axis torque is directly controlled by
the Command Torque value.
This bit is set by the Motion Drive start instruction (MDS) and only applies to CIP Drive
axis types.
21 Move Pending Status -
22 Move Lock Status
The MoveLockStatus bit is set when the master axis satisfies the Lock Direction request
of a Motion Axis Move (MAM) Instruction. If the Lock Direction is Immediate Forward
Only or Immediate Reverse Only the MoveLockStatus bit will be set immediately when
the MAM is initiated. If the Lock Direction is Position Forward Only or Position Reverse
Only the bit will be 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.
23 Jog Pending Status -
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