Multi-Axis Coordinated Motion Instructions
358 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Note that you have the option to browse for enumerations in the Structured Text
Editor as shown below.
Outputs
Mnemonic Description
.EN (Enable) Bit 31 The enable bit is set when the rung transitions from false-to-true and stays set until the rung
goes false.
.DN (Done) Bit 29 The done bit is set when the coordinate MDCC instruction is successfully initiated.
.ER (Error) Bit 28 The error bit is set when there is an invalid combination of parameters in the MDCC instruction.
.IP (In Process) Bit 26 The in process bit is set when the MDCC instruction is activated and reset by an instruction (for
example, the MCSD instruction).
.AC (Active) Bit 23 The active bit is set when an MCLM or MCCM is activated (that is, when the AC bit of the MCLM
or MCCM instruction is set) on a Coordinate System that is selected as the Slave Coordinate
System of the MDCC instruction.
Description
MDCC is a transitional instruction:
In relay ladder, toggle the 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.
The Motion Master Driven Coordinate Control instruction (MDCC) is used by
the Master Driven Speed Control (MDSC) to synchronize one or more motion
axes or Coordinate System to a common Master Axis when the Slave System is a
Coordinate System.
The MDCC instruction defines the relationship between the external Master Axis
and the Slave Coordinate System for the MCLM and the MCCM Instructions.
When an MDCC is executed (goes IP), the specified Slave Coordinate System in
the MDCC instruction is logically geared with the designated Master Axis. After
motion on the Master Axis is initiated, all the axes in the Coordinate System
specified as the Slave Coordinate System follow the Master Axis motion at the
programmed dynamics of the programmed instruction.
There are no changes in any active motion when a new MDCC instruction is
activated. Activating an MDCC instruction just puts the parameters programmed
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