Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 527
A MATC with an Execution Schedule of Pending always uses the Instruction
mode of the active MATC; Lock Position and Lock Direction are ignored. This is
explained further in the following example.
Assume that there are four instructions executed in the following order:
• MDAC1: Master=X, Slave=Y
• MATC1: Slave Y, Immediate
• MDAC2 Master=Z Slave=Y MDAC2 is executed (goes IP) while
MATC1 is moving (Master Axis is changed)
• MATC2 Slave=Y, Pending
• MATC2 will use the parameters from MDAC1 (Master and Slave) because
MATC1 was moving (active) when MDAC2 was executed. If MATC2 and
MDAC2 were executed in the reverse order, you get the same results. This
follows the existing paradigm of MAPC instruction where the pending
CAM uses the same master as the running CAM.
Motion Direct Command and the MDAC Instruction
To obtain Motion Direct support for Master Driven Speed Control mode, you
must first program an MDAC in one of the supporting program languages before
you execute an MAM or MAJ in Time driven Mode.
Affects Math Status Flags
No
Major/Minor Faults
None specific to this instruction. See the Common Attributes for operand-related
faults.
Execution
Ladder Diagram
Condition/State Action Taken
Prescan The .EN, .DN, .ER, and .IP bits are cleared to false.
Rung-condition-in is false The .EN bit is cleared to false if either the .DN or .ER bit is true.
Rung-condition-in is true The .EN bit is set to true and the instruction executes.
Postscan N/A
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