Table of contents
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 11
Motion Run Hookup Diagnostics (MRHD) ..................................................... 330
MRHD Flow Chart (True) ................................................................................... 343
Modify Motion Configuration Parameters ................................................................ 344
Chapter 6
Multi-Axis Coordinated Motion Instructions ........................................................... 345
Master Driven Coordinated Control (MDCC) ............................................... 354
Motion Calculate Transform Position (MCTP) .............................................. 361
Motion Coordinated Transform with Orientation (MCTO) ....................... 367
Motion Coordinated Path Move (MCPM) ....................................................... 377
Motion Coordinated Change Dynamics (MCCD) ......................................... 392
Motion Calculate Transform Position with Orientation (MCTPO) .......... 406
Motion Coordinated Circular Move (MCCM) ............................................... 414
Motion Coordinated Linear Move (MCLM) .................................................... 437
Motion Coordinated Shutdown (MCSD) ......................................................... 458
Motion Coordinated Shutdown Reset (MCSR) ............................................... 462
Motion Coordinated Stop (MCS) ....................................................................... 465
Motion Coordinated Transform (MCT) ........................................................... 476
Speed, acceleration, deceleration, and jerk enumerations for coordinated
motion ........................................................................................................................ 489
Returned Calculated Data Parameter for Coordinated System Motion
Instruction ................................................................................................................. 494
Status Bits for Motion Instructions (MCLM, MCCM) when MDCC Is
Active .......................................................................................................................... 496
Change between master driven and time driven modes for Coordinated
Motion instructions ................................................................................................. 499
Choose a Termination Type .................................................................................. 500
Common Action Table for Slave Coordinate System and Master Axis ....... 509
Input and Output Parameters Structure for Coordinate System Motion
Instructions ................................................................................................................ 511
Returned Calculated Data Parameter for Coordinated System Motion
Instruction ................................................................................................................. 519
Chapter 7
Master Driven Axis Control (MDAC) ....................................................................... 521
Changing Between Master Driven and Time Driven Modes for Single Axis
Motion Instructions ........................................................................................................ 529
Common Action Table for Slave and Master Axis ................................................... 531
Input and Output Parameters Structure for Single Axis Motion Instructions ... 533
Speed, Acceleration, Deceleration, and Jerk Enumerations .................................... 538
Time Based Planning ....................................................................................................... 546
Status Bits for Motion Instructions (MAM, MATC, MAJ) When MDAC Is
Active .................................................................................................................................. 550
Motion Instructions
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