Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 397
Description
MCCD 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.
Coordinate System
The Coordinate System operand specifies the set of motion axes that define the
dimensions of a coordinate system. The coordinate system supports up to three (3)
primary axes.
Motion Type
The motion type operand determines which motion profile to change. Currently
Coordinated Move is the only available option.
Coordinated Move - when selected, the Coordinated Move option changes the
motion of the currently active move in the coordinate system.
Change Speed
The Change Speed operand determines whether or not to change the speed of the
coordinated motion profile.
• No - no change is made to the speed of the coordinated motion.
• Yes - the speed of the coordinated motion is changed by the value defined in
the Speed and Speed Units operands.
Speed
The Speed operand defines the maximum speed along the path of the coordinated
move.
Speed Units
The Speed Units operand defines the units applied to the Speed operand either
directly in coordinate units of the specified coordinate system or as a percentage of
the maximum values defined in the coordinate system.
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