Multi-Axis Coordinated Motion Instructions
456 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
CoordinateSystemLockStatus Set when an axis lock is requested for an MCLM or MCCM instruction and the axis has
crossed the Lock Position. Cleared when an MCLM or MCCM is initiated.
For the enumerations Immediate Forward Only and Immediate Reverse Only, the bit
is set immediately when the MCLM or MCCM is initiated.
When the enumeration is Position Forward Only or Position Reverse Only, the bit is
set when the Master Axis crosses the Lock Position in the specified direction. The bit
is never set if the enumeration is NONE.
The CoordMotionLockStatus bit is cleared when the Master Axis reverses direction
and the Slave Axis stops following the Master Axis. The CoordMotionLockStatus bit is
set again when the Slave Coordinate System resumes following the Master Axis. The
CoordMotionLockStatus bit is also cleared when an MCCS is initiated.
Currently, Coordinated Motion only supports the queueing of one coordinated
motion instruction. Therefore the MovePendingStatus bit and the
MovePendingQueueFullStatus bit are always the same.
Master Driven Speed Control (MDSC) and Motion Direct Command
Support
The Motion Direct commands are not available in the instruction tree for the
MCLM instruction. You must program an MCLM in one of the supported
programming languages before you execute an MAM or MAJ in Time Driven
Mode. A runtime error will occur if an MCLM is not previously executed in an
MAM and MAJ in Master Driven Mode.
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