Multi-Axis Coordinated Motion Instructions
496 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
See also
Input and Output Parameters Structure for Coordinate System Motion
Instructions on page 511
The following table describes the predefined data type status bits for motion
instruction MCLM and MCCM.
Bit Name Meaning
FLAGS
EN
DN
ER
PC
IP
AC
ACCEL Set as expected during motion. It is independent of Master acceleration.
The ACCEL bit on the instruction driving the Slave Coordinate System (for
example, MCLM) is set as the Slave Coordinate System is accelerating to its
commanded speed. This bit is insensitive to acceleration occurring on the
Master Axis.
However, the AccelStatus bit, which is in the MotionStatus word of the Slave
Coordinate System (not the instruction driving the Slave Coordinate System), is
set or cleared based on changes in velocity of the Slave Coordinate System.
DECEL Set as expected during motion. It is independent of Master deceleration.
The DECEL bit on the instruction driving the Slave Coordinate System is set as
the Slave Coordinate System is decelerating to its commanded speed. This bit is
insensitive to deceleration occurring on the Master Axis.
However, the DecelStatus bit, which is in the MotionStatus word of the Slave
Coordinate System (not the instruction driving the slave axis), is set or cleared
based on changes in velocity of the Slave Coordinate System.
TrackingMaster Indicates that the Slave Coordinate System is tracking the Master Axis (only
used in Master Driven Mode).
When an instruction is initiated in Master Driven Mode, the Slave Coordinate
System accelerates to the speed that is programmed for MDSC mode. The
Tracking Master is set when the acceleration is complete in MDSC Mode. This
means that the Slave Coordinate System is synchronized to the Master Axis.
The Tracking Master bit is cleared when any of the following occurs on the Slave
Coordinate System:
• When the Slave Coordinate System starts to either accelerate or decelerate
for any reason, for example, for an MCCD or an MCS being issued.
• When the Slave Coordinate System is relinked to another Master Axis. In this
situation, the TrackingMaster bit is first cleared and then it is set again in the
new instruction status word when the Slave Coordinate System starts
tracking the new Master Axis again.
• The Slave Coordinate System is stopped. The Tracking Master is cleared as
soon as the stop is initiated on the Slave Coordinate System.
This bit is never set when LockDir = NONE.
Note that the Tracking Master bit on the Slave Coordinate System is not affected
by any operation (for example, MCS, MCCD) on the Master Axis.
The Tracking Master bit is always cleared in Time Driven Mode.
Instructions (MCLM, MCCM)
when MDCC Is Active
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