164 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Ladder Diagram and Structured Text
Operand Type Format Description
Motion Control MOTION_INSTRUCTION Tag Structure used to access block status parameters.
Cam Profile CAM_PROFILE Array Tag An array of elements with the array index set to 0. It
defines the cam profile used in calculating the slave
values.
Master Value SINT, INT, DINT, or REAL Immediate or
Tag
The exact value along the master axis of the cam
profile that is used in calculating the slave values.
Slave Value REAL Tag The value along the slave axis of the cam profile with
the master at the specified master value.
Slope Value REAL Tag The first derivative of the value along the slave axis of
the cam profile with the master at the specified master
value.
Slope Derivative REAL Tag The second derivative of the value along the slave axis
of the cam profile with the master at the specified
master value.
Structured Text
See Structured Text Syntax for more information on the syntax of expressions
within structured text.
Description
The MCSV instruction determines the slave value, the slope value, and the
derivative of the slope for a given cam profile and master value. As an extension to
the position and time camming functionality it supplies the values essential for the
recovery from faults during camming operations.
Motion Control
The following control bits are affected by the MCSV instruction.
Mnemonic Description
.EN (Enable) Bit 31 The Enable Bit sets when the rung transitions from false to true. It resets when the rung goes
from true to false.
.DN (Done) Bit 29 The Done Bit sets when the slave values have been calculated successfully. It resets when the
rung transitions from false to true.
.ER (Error) Bit 28 The Error Bit sets when the slave values have not been calculated successfully. It resets when the
rung transitions from false to true.
This is a transitional instruction:
• In relay ladder, toggle Rung-condition-in from false to true each time the
instruction should execute.
• In structured text, condition the instruction so that it only executes on a
transition.
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