532 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
The MDAC link is broken when the following instructions are executed on the
slave axis:
• MAS (All), MCS (All), MGS, MASD, MCSD, MGSD, a mode change.
• The MAS (anything other than All) and MCS (coordinated) do not break
the MDAC link.
A mode change (Rem Run to Rem Prog or Rem Prog to Rem Run) or an axis fault
also breaks the MDAC link.
For information on the MDCC instruction and the other coordinate instructions,
see the Coordinate System User Manual, publication MOTION-UM002.
Actions Taken When Stopping/Shutdown Instructions are Executed on the
Master Axis
The following table identifies the change in state of the MDAC link between the
master and slave axis as each instruction in column 1 is executed on the master
axis. All commands in the following table are for the master axis.
Actions for the Master Axis
Instruction Parameters MDAC IP Bit
MGS
Reset
MGSD
Reset
MCS Stop Type = Coordinated Motion Not Changed
Stop Type = Transform Not Changed
Stop Type = All Not Changed
MCSD
Reset
MAS Any Stop Type
Jog
Move
Time CAM All
Not Changed
MASD
Reset
MSF
Not Changed
MDF
Not Changed
Fault Action Status Only Not Changed
Stop Motion Not Changed
Disable DRV Not Changed
Shutdown Reset
If the same Master Axis is controlling multiple Slaves or a Slave Coordinate
System, then all MDAC or MDCC relationships that contain the Master Axis are
broken.
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