Multi-Axis Coordinated Motion Instructions
466 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Important:
Risk of Velocity and/or End Position Overshoot
If you change move parameters dynamically by any method, that is by
changing move dynamics (MCD or MCCD) or by starting a new instruction
before the last one has completed, be aware of the risk of velocity and/or
end position overshoot.
A Trapezoidal velocity profile can overshoot if maximum deceleration is
decreased while the move is decelerating or is close to the deceleration
point.
An S-curve velocity profile can overshoot if:
• maximum deceleration is decreased while the move is decelerating or
close to the deceleration point; or
• maximum acceleration jerk is decreased and the axis is accelerating.
Keep in mind, however, that jerk can be changed indirectly if it is
specified in % of time.
Available Languages
Ladder Diagram
Function Block
This instruction is not available in function block.
Structured Text
MCS(CoordinateSystem, MotionControl,StopType, ChangeDecel,
DecelRate,DecelUnits, ChangeDecelJerk,DecelJerk, JerkUnits);
Operands
There are data conversion rules for mixed data types within an instruction. See
Data Conversion.
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