Multi-Axis Coordinated Motion Instructions
460 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Master Driven Speed Control (MDSC) and the MCSD Instruction
When the coordinate system is shut down:
• The IP bit of the Master Driven Coordinate Control (MDCC) instruction
is reset on an axis that is shutdown.
• The AC bit of the MDCC instruction resets when the axis is stopped as it is
shutdown.
• The MCSD instruction clears the pending Master Axis for all future
coordinate system motion instructions.
Affects Math Status Flags
No
Major/Minor Faults
None specific to this instruction. See Common Attributes operand-related faults.
Execution
Ladder Diagram
Condition/State Action Taken
Prescan The .EN, .DN, .ER, and .IP bits are cleared to false.
Rung-condition-in is false The .EN bit is cleared to false if either the .DN or .ER bit is true.
Rung-condition-in is true The .EN bit is set to true and the instruction executes.
Postscan N/A
Structured Text
Condition/State Action Taken
Prescan See Prescan in the Ladder Diagram table.
Normal execution See Rung-condition-in is false, followed by rung is true in the
Ladder Diagram table.
Postscan See Postscan in the Ladder Diagram table.
MCSD Changes to Status Bits
Status bits provide a means for monitoring the progress of the motion instruction.
There are three types of Status bits that provide pertinent information. They are:
Axis Status bits, Coordinate System Status bits, and Coordinate Motion Status
bits. When the MCS instruction initiates, the status bits undergo the following
changes.
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