Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 143
Pausing Moves
The MCD instruction may be used to temporarily pause a move in progress by
changing its speed to zero. Use another MCD instruction with a non-zero speed
value to complete the move as originally specified.
Changing Jog Dynamics
When a Motion type of Jog is entered or chosen, the speed, acceleration, and/or
deceleration of a Jog in progress may be changed to the specified value. The speed
change occurs at the specified acceleration rate if the new speed is higher than the
current speed or at the specified deceleration rate if the new speed is lower than
the current speed.
Supporting Motion Drive Start (MDS) Instruction
The MCD instruction supports the Motion Drive Start (MDS) instruction.
However, the MCD instruction has no affect on the DirectVelocityControlStatus
Command feature because the Motion Planner only takes the value from the
Direct Command Velocity Attribute and sums it into the axis output before
sending the total command to the drive. After all acceleration and deceleration
have been planned, the MCD instruction has no affect on the feature.
Changing Between MDSC and Time Driven Modes in Master Driven Speed
Control (MDSC)
You cannot change from Master Driven Mode to Time Driven Mode or vice versa
with an MCD instruction. You receive a runtime error if you attempt to change
modes.
Affects Math Status Flags
No
Major/Minor Faults
None specific to this instruction. See Common Attributes for operand-related
faults.
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