Multi-Axis Coordinated Motion Instructions
512 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Enumeration Definition Description
0 None Indicates that the Lock Position is not active.
If Lock Direction is set to None and the Master Driven
mode is selected by the speed parameter of the
motion instruction, the system will error.
Conversely, if Lock direction is not set to a value
other than None and the speed parameter units
indicate Time Driven mode, an error is also
generated.
1 Immediate Forward Only Motion starts immediately when the Master is
moving in the Forward Direction. The Master Axis is
only followed while it is moving in the Forward
Direction.
2 Immediate Reverse Only Motion starts immediately when the Master Axis is
moving in the Reverse Direction. The Master Axis is
only followed while it is moving in the Reverse
Direction.
3 Position Forward Only Motion starts (that is, the Slave Coordinate System
locks to the Master Axis) when the Master Axis
crosses the Lock Position while it is moving in the
Forward Direction. The Master Axis is only followed
while it is moving in the Forward Direction.
Note that if the start position equals the Lock
Position and this enumeration is selected, then
motion will not start because the Lock Position will
not be crossed.
4 Position Reverse Only Motion starts when the Master Axis crosses the Lock
Position while it is moving in the Reverse Direction.
The Master Axis is only followed while it is moving in
the Reverse Direction.
Note that if the start position equals the Lock
Position and this enumeration is selected, then
motion will not start because the Lock Position will
not be crossed.
For Time Driven Mode, the enumerations are as follows:
Enumeration Definition Description
0 None Indicates that the Lock Position is not active.
1 Immediate Forward Only The instruction will error with
MDSC_LOCKDIR_CONFLICT (95).
2 Immediate Reverse Only The instruction will error with
MDSC_LOCKDIR_CONFLICT (95).
3 Position Forward Only The instruction will error with
MDSC_LOCKDIR_CONFLICT (95).
4 Position Reverse Only The instruction will error with
MDSC_LOCKDIR_CONFLICT (95).
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