Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 455
Coordinate System Status Bits
Bit Name Meaning
MotionStatus Sets when the MCLM instruction is active and the Coordinate System is connected to
its associated axes.
Coordinated Motion Status Bits
Bit Name Meaning
AccelStatus Sets when vector is accelerating. Clears when a blend is in process or when vector
move is decelerating.
DecelStatus Sets when vector is decelerating. Clears when a blend is in process or when vector
move is accelerating.
ActualPosToleranceStatus Sets for Actual Tolerance termination type only. It sets after the following two
conditions are met. 1) Interpolation is complete. 2) The actual distance to the
programmed endpoint is less than the configured coordinate system Actual
Tolerance value. The bit remains set after an instruction completes. The bit is reset
when a new instruction is started.
CommandPosToleranceStatus Sets for all termination types whenever the distance to the programmed endpoint is
less than the configured coordinate system Command Tolerance value. The bit
remains set after an instruction completes. It resets when a new instruction is
started.
The CommandPosToleranceStatus (CS_CMD_POS_TOL_STS) status bit in the
Coordinate System is set as follows:
TT0, TT1, TT4, TT5 - Bit is set when the distance to the endpoint is less than the
Command Tolerance value.
The bit is cleared when the first move is complete.
TT2, TT6 - Bit is set when the distance to the endpoint is less than the Command
Tolerance value.
The bit is cleared when the blend is started (that is, when the second move is
started). Thus, you may not see the bit if the blend is started at the Command
Tolerance (CT) point. The blend may have been deferred slightly beyond the CT point
if the next move is a short move or for time matching of the acceleration and
deceleration of the two adjacent moves.
TT3 - Bit is set when the distance to the endpoint is less than the Command
Tolerance value (like TT2 and TT6).
The bit is cleared when the blend is started. Thus, you may not see the bit if the
blend is started at the deceleration point. The blend may have been deferred slightly
beyond the deceleration point if the next move is a short move or for time matching
of the acceleration and deceleration of the two adjacent moves.
StoppingStatus The Stopping Status bit is cleared when the MCLM instruction initiates.
MoveStatus Sets when MCLM begins axis motion. Clears on .PC bit of the last motion instruction
or when a motion instruction executes which causes a stop.
MoveTransitionStatus Sets when No Decel or Command Tolerance termination type is satisfied. When
blending collinear moves the bit is not set because the machine is always on path. It
clears when a blend completes, the motion of a pending instruction starts, or a
motion instruction executes which causes a stop. Indicates not on path.
MovePendingQueueFullStatus Sets when the instruction queue is full. It clears when the queue has room for a new
coordinated motion instruction.
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