Multi-Axis Coordinated Motion Instructions
470 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
The MCS All instruction clears the pending Master Axis for all future
coordinated motion instructions. However, MCS ALL on the Master axis does
not break the MDSC link.
The AC bit of the MDCC instruction is reset when the axis is stopped.
The instruction queue is cleared when an MCS All or MCS Coordinated is
executed (goes IP).
The status bit CalculatedDataAvailable in an active motion instruction status
word for an MCLM or MCCM instruction clears when an MCS is executed (goes
IP). The CalculatedData is not recomputed.
Note that if a stop is issued very close to the programmed endpoint, the actual stop
may be beyond the programmed endpoint, especially if run in Master Driven
Mode.
MCS is a transitional instruction:
• In relay ladder, toggle the Rung-condition-in from false to true each time
the instruction should execute.
• In structured text, condition the instruction so that it only executes on a
transition.
Affects Math Status Flags
No
Major/Minor Faults
None specific to this instruction. See Common Attributes for 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
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