Multi-Axis Coordinated Motion Instructions
498 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Coordinated Motion Status Bits
Bit Name Meaning
CoordinateMotionStatus Set when an axis lock is requested for an MCLM or MCCM instruction and the axis
has crossed the Lock Position. Cleared when an MCLM or MCCM is initiated.
AccelStatus Sets when vector is accelerating. Clears when a blend is in process or when vector
move is at speed or decelerating.
DecelStatus Sets when vector is decelerating. Clears when a blend is in process or when vector
move is accelerating or when move completes.
ActualPosToleranceStatus Sets for Actual Tolerance termination type only. The bit is set after the following
two conditions have been met. 1) Interpolation is complete. 2) The actual distance
to the programmed endpoint is less than the configured coordinate system’s Actual
Tolerance value. It remains set after the instruction completes. It is reset when a
new instruction is started.
CommandPosToleranceStatus Sets for all termination types whenever the distance to the programmed endpoint
is less than the configured coordinate system’s Command Tolerance value and
remains set after the instruction completes. It is reset when a new instruction is
started.
StoppingStatus The Stopping Status bit is cleared when the MCCM instruction executes.
MoveStatus Sets when MCCM begins axis motion. Clears on the .PC bit of the last motion
instruction or a motion instruction executes which causes a stop.
MoveTransitionStatus Sets when No Decel or Command Tolerance termination type is satisfied. When
blending collinear moves the bit is not set because the machine is always on path.
It clears when a blend completes, the motion of a pending instruction starts, or a
motion instruction executes which causes a stop. Indicates not on path.
MovePendingQueueFullStatus Sets when the instruction queue is full. It clears when the queue has room to hold
another new coordinated move instruction.
TransformSourceStatus The coordinate system is the source of an active transform.
TransformTargetStatus The coordinate system is the target of an active transform.
CoorMotionLockStatus Set when an axis lock is requested for an MCLM or MCCM instruction and the axis
has crossed the Lock Position. Cleared when an MCLM or MCCM is initiated.
For the enumerations Immediate Forward Only and Immediate Reverse Only, the
bit is set immediately when the MCLM or MCCM is initiated.
When the enumeration is Position Forward Only or Position Reverse Only, the bit is
set when the Master Axis crosses the Lock Position in the specified direction. The
bit is never set if the enumeration is NONE.
The CoordMotionLockStatus bit is cleared when the Master Axis reverses direction
and the Slave Coordinate System stops following the Master Axis. The
CoordMotionLockStatus bit is set again when the Slave Coordinate System resumes
following the Master Axis. The CoordMotionLockStatus bit is also cleared when an
MCS is initiated.
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