Multi-Axis Coordinated Motion Instructions
464 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
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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.
MCSR 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.
Axis Status Bits
Bit Name Meaning
CoordinatedMotionStatus No effect
Coordinate System Status Bits
Bit Name Meaning
ShutdownStatus Clears the Shutdown status bit.
Coordinated Motion Status Bits
Bit Name Meaning
MovePendingStatus Flushes instruction queue and clears status bit.
MovePendingQueueFullStatus Flushes instruction queue an clears status bit.
Examples
Ladder Diagram
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MCSR(myMcsrCoordinateSystem,myMcsrMotionControl);
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