Allen-Bradley Studio 5000 Logix Emulate User Manual

Chapter 6
Multi-Axis Coordinated Motion Instructions
356 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Operands
Ladder Diagram and Structured Text
Operand Type
CompactLogix 5380,
CompactLogix 5480,
ControlLogix 5580, Compact
GuardLogix 5380, and
GuardLogix 5580 controllers
Type
CompactLogix 5370,
ControlLogix 5570, Compact
GuardLogix 5370, and
GuardLogix 5570 controllers
Format Description
Slave System COORDINATE_SYSTEM COORDINATE_SYSTEM tag The Coordinate System that the Master
Axis controls when the motion planner is
in Master Driven mode. Ellipsis launches
the Coordinate System properties dialog.
Upon verification, you receive a
verification error if the Slave is a
non-Cartesian Coordinate System or if the
Master Axis is in the Slave Coordinate
System.
The MDCC link is broken when the
following instructions are executed:
On any axis in the Slave Coordinate
System or the Slave Coordinate System:
MAS (All), MCS (All), MGS, MASD, MCSD,
MGSD, a mode change. Note that MAS
(anything other than All) and MCS do
NOT break the MDCC link.
The Shutdown instructions (MGSD,
MASD, MCSD) never go IP.
On the Master Axis: MASD, MCSD, and
MGSD. Note that MAS and MCS for any
Stop Type, including All, do NOT break
the MDCC link.
A mode change (Rem Run to Rem Prog or
Rem Prog to Rem Run) or an axis fault
also breaks the MDCC link.
Master Axis AXIS_CONSUMED
AXIS_CIP_DRIVE
AXIS_VIRTUAL
AXIS_CONSUMED
AXIS_SERVO
AXIS_SERVO_DRIVE
AXIS_GENERIC
AXIS_GENERIC_DRIVE
AXIS_CIP_DRIVE
AXIS_VIRTUAL
tag Any configured Single Axis that the Slave
Coordinate System follows. The Master
Axis can be any axis that has been
configured.
Motion Control MOTION_INSTRUCTION MOTION_INSTRUCTION tag Control tag for the instruction.
Master
Reference
UNIT32 UNIT32 immediate tag Selects the Master position source as
either Actual Position (0) or Command
Position (1).
Nominal Master
Velocity
REAL REAL immediate
tag
Used as an additional conversion constant
for master driven MCPM moves
programmed in percentage of maximum.

Allen-Bradley Studio 5000 Logix Emulate Specifications

General

Brand	Allen-Bradley
Model	Studio 5000 Logix Emulate
Category	Controller
Language	English