Allen-Bradley Studio 5000 Logix Emulate

Multi-Axis Coordinated Motion Instructions
Chapter 6
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 471
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.
Error Codes:
See Motion Error Codes (.ERR) for motion instructions.
Extended Error Codes
See Extended Error Codes for Motion Instructions. It has information about how
to use the extended error codes. See Motion Error Codes (.ERR) for motion
instructions.
Changes to Status Bits
The instruction changes these status bits when it executes.
In the tag for the This bit When the stop type is Turns
Axis CoordinatedMotionStatus Off when the coordinated move stops
TransformStatus Coordinated Move Unchanged
• All
• Coordinated Transform
Off
ControlledByTransformStatus Coordinated Move Off when the axes stop and the PC bit of the MCS
instruction turns on
•
All
• Coordinated Transform
Off
Coordinate System MotionStatus Off when the coordinated move stops
AccelStatus Off
DecelStatus On during the stop and then off when the stop completes
StoppingStatus On during the stop and then off when the PC bit turns on
MoveStatus Off
MoveTransitionStatus Off
TransformSourceStatus Coordinated Move Unchanged
•
All
• Coordinated Transform
Off
TransformTargetStatus Coordinated Move Unchanged
•
All
• Coordinated Transform
Off