Multi-Axis Coordinated Motion Instructions
518 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
5 Move Segments are specified
Event Distance = ED
Command Tolerance = CT
• MCLM1 Y100; TT2 ED=50 CT=100
• MCLM2 X200; TT2 ED=100 CT=20
• MCLM3 Y-100; TT1 ED=100 CT=20
• MCLM4 X200; TT2 ED=100 CT=20
• MCLM5 Y100; TT2 ED=100 CT=20
The calculated data for MCLM1 is returned when MCLM2 is added to the queue
and planned.
This will be at point P1 above. Master Distance is Measured from point P0.
The calculated data for MCLM2 is returned when MCLM3 is added to the queue
and planned.
This will be at Point P2 above. Master Distance is Measured from point P0.
The calculated data for MCLM3 is returned when MCLM3 is added to the queue
and planned.
This will be at point P3 above. Master Distance is Measured from point P0.
The calculated data for MCLM4 is returned when MCLM5 is added to the queue
and planned.
This will be at point P10 above. Master Distance is Measured from point P10.
The calculated data for MCLM5 is never returned because MCLM5 is terminated
with TT2 and it is
the last move in the queue. You should use TT0 or TT1 instead.
All Calculated Data is the master distance or time from the last MSP point.
That is, it is where the slave is at rest, which is point P0 and point P10 above.
See also
Returned Calculated Data Parameter for Coordinated System Motion Instruction
on page 494
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