Multi-Axis Coordinated Motion Instructions
416 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Function Block
This instruction is not available in function block.
Structured Text
MCCM (CoordinateSystem, MotionControl, MoveType, Position, CircleType,
Via/Center/Radius, Direction, Speed, SpeedUnits, AccelRate, AccelUnits,
DecelRate, DecelUnits, Profile, AccelJerk, DecelJerk, JerkUnits,Terminationtype,
Merge, Mergespeed, CommandTolerance, LockPosition, LockDirection,
EventDistance, CalculatedData);
Operands
There are data conversion rules for mixed data types within an instruction. See
Data Conversion.
Ladder Diagram and Structured Text
Operand Type Format Description
Coordinate System COORDINATE_SYSTEM Tag Coordinated group of axes.
Motion Control MOTION_INSTRUCTION Tag Structure used to access
instruction status parameters.
Move Type SINT, INT, or DINT Immediate or Tag Select the Move Type:
0 = Absolute
1 = Incremental
Position REAL Array tag [ ] [coordinate units]
Circle Type SINT, INT, or DINT Immediate or Tag 0 = Via
1 = Center
2 = Radius
3 = Center Incremental
Via/Center/Radius REAL array tag[] (via/center)
Immediate or tag (radius)
[coordinate units]
Direction SINT, INT, or DINT Immediate or Tag
2D 3D
0 = CW Shortest
1 = CW Longest
2 = CW Full Shortest Full
3 = CCW Full Longest Full
Speed SINT, INT, DINT, or REAL Immediate or Tag [coordinate units]
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