Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 363
MOTION_INSTRUCTION Data Type
To see if Check if this
bit is on
Data Type Notes
The rung is true EN BOOL Sometimes the EN bit stays on even if the rung goes false. This
happens if the rung goes false before the instruction is done or an
error has occurred.
The instruction is
done.
DN BOOL
An error happened ER BOOL Identify the error number listed in the error code field of the Motion
control tag then, refer to Motion Error Codes.
The MCTP instruction is similar to the MCT instruction except the MCTP
instruction doesn't start a transform. It calculates a position once each time you
execute it.
Programming Guidelines
Follow these guidelines to use an MCTP instruction.
MCTP Instruction Guidelines
Guideline Example and Notes
Toggle the rung from false to true to
execute the instruction.
This is a transitional instruction. In a ladder diagram, toggle the Rung-condition-in from false to true each
time you want to execute the instruction.
In structured text, condition the
instruction so that it only executes
on a transition.
In structured text, instructions execute each time they are scanned. Condition the instruction so that it only
executes on a transition. Use either of these methods:
Qualifier of an SFC action
Structured text construct
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