Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 421
Motion Control
The following control bits are affected by the MCCM instruction.
Mnemonic Description
.EN (Enable) Bit 31 The Enable bit is set when the rung transitions from false to true and
resets when the rung goes from true to false.
.DN (Done) Bit 29 The Done bit sets when the coordinated instruction has been verified
and queued successfully. Because it’s set at the time it’s queued it may
appear as set when a runtime error is encountered during the verify
operation after it comes out of the queue. It resets when the rung
transitions from false to true.
.ER (Error) Bit 28 The Error bit resets when the rung transitions from false to true. It sets
when the coordinated move fails to initiate successfully. It can also be
set with the Done bit when a queued instruction encounters a runtime
error.
.IP (In Process) Bit 26 The In Process bit sets when the coordinated move is successfully
initiated. It resets when there is a succeeding move and the coordinated
move reaches the new position, or when there is no succeeding move
and the coordinated move reaches the termination type specifications,
or when the coordinated move is superseded by another MCCM or
MCLM instruction with a Merge Type of Coordinated Move or when
terminated by an MCS or an MCSD instruction.
.AC (Active) Bit 23 When you have a coordinated move instruction queued, the Active bit
lets you know which instruction is controlling the motion. It sets when
the coordinated move becomes active. It is reset when the Process
Complete bit is set or when the instruction is stopped.
.PC (Process Complete) Bit 27 The Process Complete bit is reset when the rung transitions from false to
true. It is set when there is no succeeding move and the coordinated
move reaches the new position, or when there is a succeeding move and
the coordinated move reaches the specified termination type.
.ACCEL (Acceleration Bit) Bit 01 The Acceleration bit sets while the coordinated move is in the
acceleration phase. It resets while the coordinated move is in the
constant velocity or deceleration phase, or when coordinated motion
concludes.
.DECEL (Deceleration Bit) Bit 02 The Deceleration bit sets while the coordinated move is in the
deceleration phase. It resets while the coordinated move is in the
constant velocity or acceleration phase, or when coordinated motion
concludes.
Move Type
The Move Type operand determines the method used by the position array to
indicate the path of the coordinated move and the method the via/center/radius
parameter uses to indicate the via and center circle positions. The options are:
Absolute or Incremental.
• Absolute - the coordinate system moves to the specified Position at the
defined Speed, using the Accel and Decel Rates as designated by their
respective operands, along a circular path.
When an axis is configured for rotary operation, absolute moves are handled
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