Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 207
CoordinatedMotionStatus 16
Sets when the MDAC instruction executes (TRUE state). Clears when
the instruction completes (FALSE state).
TransformStateStatus 17 The axis is part of an active transform (TRUE state).
ControlledByTransformStatus 18 The axis is moving because of a transform (TRUE state).
DirectVelocityControlStatus 19 The axis is not under Direct Velocity Control (FALSE state).
DirectTorqueControlStatus 20 The axis is not under Direct Torque Control (FALSE state).
JogLockStatus 24 The axis is not in a Jog Locked condition (FALSE state).
MasterOffsetMoveLockStatus 26 Master offset Move is Locked to master in MDSC Mode (TRUE state).
MaximumSpeedExceeded 27
Sets when the maximum axis speed that is specified in the axis
configuration is exceeded during a move (TRUE state). Clears when
the velocity is reduced below the limit (FALSE state).
Status Bits
If the Execution Schedule is set to Immediate, execution of the MATC instruction
simply sets the Time Cam Status bit to True.
Bit Name State Meaning
TimeCamStatus TRUE Time Camming is Enabled.
TimeCamPendingStatus FALSE No pending Time Cam.
Note that a pending Cam and the active Cam must be in the same
mode - either both must be time driven or both must be MDSC
driven. An instruction that pends a CAM to an active Cam in a
different mode (than the active Cam) returns an error.
If the Execution Schedule is set to Pending, execution of the MATC instruction
does not affect the current state of the Time Cam Status bits. Time Cam Pending
Status bit is set to True immediately and transitions to False when the pending
cam becomes the active cam.
Bit Name State Meaning
TimeCamStatus N/A Time Camming is Enabled.
TimeCamPendingStatus TRUE Pending Time Cam.
Note that a pending Cam and the active Cam must be in the
same mode - either both must be time driven or both must
be MDSC driven. An instruction that pends a CAM to an
active Cam in a different mode (than the active Cam) returns
an error.
Master Driven Speed Control (MDSC) and Motion Direct Command
Support
The Motion Direct commands are not available in the instruction tree for the
MATC instruction. You must program an MATC in one of the supported
programming languages before you execute an MAM or MAJ in Time Driven
Mode. A runtime error will occur if an MATC is not previously executed in an
MAM and MAJ in Master Driven Mode.
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