Multi-Axis Coordinated Motion Instructions
452 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Feature Description
Axis Name These fields list the names of each axis contained in the Coordinate System. You cannot
alter the axis names in this dialog.
Target Position/Target Increment This field contains the endpoint or increment of the coordinated move as specified in the
instruction faceplate. It is numeric.
Actual Position These are the current actual positions of the axes in the coordinate system. These positions
are updated dynamically when on-line and Coordinate System Auto Tag Update is enabled.
Set Targets = Actuals Button When in Absolute mode, this button automatically copies the actual position values to the
Target Position Column.
When in Incremental mode, this button automatically copies the actual position values to
the Target Increment Column.
The selected Move type governs the appearance and the availability of the Set
Targets = Actuals button.
When the Move Type is Absolute, the target column is entitled Target Position
and when the Move Type is Incremental, the target column is entitled Target
Increment and the Set Targets = Actuals button appears dimmed.
MCLM 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. See Structured Text Syntax.
Structure
See Input and Output Parameters Structure for Single Axis Motion Instructions for
the input and output parameters that are available for the MCLM instruction via
the Master Driven Speed Control (MDSC) function. Before any of these
parameters is active, you must execute an MDCC instruction and it must be active
(IP bit is set).
Affects Math Status Flags
No
Major/Minor Faults
None specific to this instruction. See Common Attributes for operand-related
faults.
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