Multi-Axis Coordinated Motion Instructions
350 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
When an instruction completes, it is removed from the queue and there is space
for another instruction to enter the queue. Both bits always have the same value
because you can queue only one pending instruction at a time. If the application
requires several instructions to be executed in sequence, then the bits are set using
these parameters.
Bit Parameters
When Then
One instruction is active and a second instruction is pending in the
queue.
MovePendingStatus bit = 1
• MovePendingQueueFullStatus bit = 1
• You can’t queue another instruction
An active instruction completes and leaves the queue.
• MovePendingStatus bit = 0
• MovePendingQueueFullStatus bit = 0
• You can queue another instruction
The termination type operand for the MCLM or MCCM instruction specifies
how the currently executing move gets terminated. The following illustrations
show the states of instruction bits and Coordinate System bits that get affected at
various transition points (TP).
Bit States at Transition Points of Blended Move Using Actual Tolerance or
No Settle
The following table shows the bit status at the various transition points shown in
the preceding graph with termination type of either Actual Tolerance or No
Settle.
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