Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 91
Stop Type for MAS
The behavior of the MAS instruction depends on the Stop Type parameter:
• Time CAM, stop type moves, and jogs - When you invoke an MAS with
Stop Type = Time Cam on an axis that is running in Master Driven Mode,
the axis terminates Master Driven Mode, changes to Time Driven Mode,
and stops as specified.
• Master Offset Move - When you invoke an MAS with Stop Type = Master
Offset Move on an axis that is running in Master Driven Mode and
controlling a Position Cam, the offset axis terminates Master Driven Mode,
changes to Time Driven Mode, and stops at the specified deceleration and
deceleration jerk.
• All - When you invoke an MAS with Stop Type = All, the MDSC link is
broken immediately. All motion planners on the specified axis terminate
Master Driven Mode and axes are stopped at the specified deceleration and
deceleration jerk in Time Driven Mode.
If the axes are involved in any coordinated motion (in Master Driven Mode), then
the axes break from the coordinate motion planner and the other axes in the
coordinate system continue. The IP bit is cleared on the Master Driven Axis
Control (MDAC).
Note that MAS ALL on the Master axis does not break the MDSC link. For all
other stop types in which you execute an MAS instruction on an axis that is being
controlled in Master Driven Mode, the motion planner terminates Master Driven
Mode on the requested axis for the requested Stop Type, changes to Time Driven
Mode, and stops at the specified deceleration and deceleration jerk in Time
Driven Mode. Other stop types do not clear the IP bit on the MDAC.
The AC bit of the MDAC instruction resets when the axis is stopped.
MAS All reset the IP bit of the MDAC. Other stop types do not reset the IP bit.
Note that if a stop is issued very close to the programmed endpoint, the actual stop
may be beyond the programmed endpoint, especially if run in Master Driven
Mode.
The status bit CalculatedDataAvailable in an active motion instruction status
word for an MAS instruction resets when an MAS is executed (goes IP). The
CalculatedData is not recomputed.
Affects Math Status Flags
No
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