Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 359
in the MDCC instruction into a pending state. The parameters in the pending
MDCC instruction are changed if you execute a succeeding MDCC instruction
before a new MCLM or MCCM instruction is activated. The MDCC becomes
active (AC bit is set) only when all queued motion is complete and the motion
queue is empty.
All motion in the queue keeps using the same Master Axis even if there is a
pending MDCC with a different master. The values in the pending MDCC
instruction are only used when the next MCLM or MCCM instruction is
activated on the Slave Coordinate System when the queue is empty, or a MCLM
or MCCM is executed (goes IP) with a Merge type of All or Coordinate. (Note
that this is because the merge empties the queue.)
Motion Direct Command and the MDCC Instruction
To obtain Motion Direct support for the MDCC instruction, you must first
program an MDCC in one of the supporting program languages before you
execute an MCLM or MCCM in Master driven Mode.
Affects Math Status Flags
No
Major/Minor Faults
None specific to this instruction. See Index Through Arrays for array-indexing
faults.
Execution
Ladder Diagram
Condition/State Action Taken
Prescan The .EN, .DN, .ER, and .IP bits are cleared to false.
Rung-condition-in is false The .EN bit is cleared to false if either the .DN or .ER bit is true.
Rung-condition-in is true The .EN bit is set to true and the instruction executes.
Postscan N/A
Structured Text
Condition/State Action Taken
Prescan See Prescan in the Ladder Diagram table.
Normal execution See Rung-condition-in is false and rung-condition-in is true in the Ladder
Diagram table.
Postscan See Postscan in the Ladder Diagram table.
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