Multi-Axis Coordinated Motion Instructions

Use the Multi-Axis Coordinated Motion Instructions to move up to six axes in a coordinate system.
Available Instructions
Ladder Diagram and Structured Text
Function Block
Not available
Coordinate system examples are:
Coordinate System with Orthogonal Axes
Coordinate Systems with Non-orthogonal Axes
Delta J1J2J6 Coor System_v31 Delta J1J2J3J6 Coordinate System
Delta J1J2J6 Coordinate System Delta J1J2J3J6 Coordinate System
Delta J1J2J3J4J5_v31
Delta J1J2J3J4J5 Coordinate System
The multi-axis coordinated motion instructions are:
If:
Use this instruction:
Stopping the axes of a Coordinate System or cancel a transform.
MCS
Initiating a single or multi-dimensional linear Coordinated move for the specified axes within a Cartesian Coordinate System.
MCLM
Initiating a two- or three-dimensional circular Coordinated move for the specified axes within a Cartesian Coordinate System.
MCCM
Initiating a change in path dynamics for Coordinate motion active on the specified Coordinate System.
MCCD
Initiating a controlled shutdown of all of the axes of the specified Coordinate System.
MCSD
Initiating a reset of all of the axes of the specified Coordinate System from the shutdown state to the axis ready state and clear the axis faults.
MCSR
Starting a transform that links two Coordinate Systems together.
This instruction is only available on supported controllers.
MCT
Calculating the position of one Coordinate System with respect to another Coordinate System.
This instruction is only available on supported controllers.
MCTP
Defining a Master and Slave relationship between a Master Axis and a Coordinate System. Coordinate motion instructions MCLM and MCCM executed on a Slave Coordinate System will be synchronized to a Master Axis.
MDCC
Calculating the position of a point in one coordinate system to the equivalent point in a second coordinate system.
MCTPO
Starting a multi-dimensional coordinated path move for the specified axes within a Cartesian coordinate system.
MCPM
Starting a transform that links two coordinate systems together with orientation control.
MCTO
Using Different Termination Types When Blending Instructions
To blend two MCLM or MCCM instructions, start the first one and queue the second one. The tag for the coordinate system gives you two bits for queuing instructions.
  • MovePendingStatus
  • MovePendingQueueFullStatus
For example, this ladder diagram uses Coordinate System cs1 to blend Move1 into Move2.
Example Ladder Diagram for Blended Instructions
If Step=1 then
Move1 starts and moves the axes to a position of 5, 0
And once Move1 is in process
And there is room to queue another move
Step=2
Multi_axis section graphic1_v31
If Step=2 then
Move1 is already happening.
Move2 goes into the queue and waits for Move1 to complete.
When Move1 is complete, Move2 moves the axes to a position of 10, 5.
And once Move2 is in process and there is room in the queue,
Step=3.
L5K_multi_axis coord sect_grapic 2_v31
When an instruction completes, it is removed from the queue and there is space for another instruction to enter the queue. Both bits always have the same value because you can queue only one pending instruction at a time. If the application requires several instructions to be executed in sequence, then the bits are set using these parameters.
Bit Parameters
When
Then
One instruction is active and a second instruction is pending in the queue.
  • MovePendingStatus bit = 1
  • MovePendingQueueFullStatus bit = 1
  • You can’t queue another instruction
An active instruction completes and leaves the queue.
  • MovePendingStatus bit = 0
  • MovePendingQueueFullStatus bit = 0
  • You can queue another instruction
The termination type operand for the MCLM or MCCM instruction specifies how the currently executing move gets terminated. The following illustrations show the states of instruction bits and Coordinate System bits that get affected at various transition points (TP).
Bit States at Transition Points of Blended Move Using Actual Tolerance or No Settle
bldmveacttolnostle
The following table shows the bit status at the various transition points shown in the preceding graph with termination type of either Actual Tolerance or No Settle.
Bit
TP1
TP2
TP3
Move1.DN
T
T
T
Move1.IP
T
F
F
Move1.AC
T
F
F
Move1.PC
F
T
T
Move2.DN
T
T
T
Move2.IP
T
T
F
Move2.AC
F
T
F
Move2.PC
F
F
T
cs1.MoveTransitionStatus
F
F
F
cs1.MovePendingStatus
T
F
F
cs1.MovePendingQueueFullStatus
T
F
F
Bit States at Transition Points of Blended Move Using No Decel
bldmvenodecel
The following table shows the bit status at the various transition points shown in the preceding graph with termination type of No Decel. For No Decel termination type distance-to-go for transition point TP2 is equal to deceleration distance for the Move1 instruction. If Move 1 and Move 2 are collinear, then Move1.PC will be true at TP3 (the programmed end-point of first move).
Bit
TP1
TP2
TP3
TP4
Move1.DN
T
T
T
T
Move1.IP
T
F
F
F
Move1.AC
T
F
F
F
Move1.PC
F
T
T
T
Move2.DN
T
T
T
T
Move2.IP
T
T
T
F
Move2.AC
F
T
T
F
Move2.PC
F
F
F
T
cs1.MoveTransitionStatus
F
T
F
F
cs1.MovePendingStatus
T
F
F
F
cs1.MovePendingQueueFullStatus
T
F
F
F
Bit States at Transition Points of Blended Move Using Command Tolerance
bldmvecmdtol
The following table shows the bit status at the various transition points shown in the preceding graph with termination type of Command Tolerance. For Command Tolerance termination type distance-to-go for transition point TP2 is equal to Command Tolerance for the Coordinate System cs1.
Bit
TP1
TP2
TP3
TP4
Move1.DN
T
T
T
T
Move1.IP
T
F
F
F
Move1.AC
T
F
F
F
Move1.PC
F
T
T
T
Move2.DN
T
T
T
T
Move2.IP
T
T
T
F
Move2.AC
F
T
T
F
Move2.PC
F
F
F
T
cs1.MoveTransitionStatus
F
T
F
F
cs1.MovePendingStatus
T
F
F
F
cs1.MovePendingQueueFullStatus
T
F
F
F
Bit States at Transition Points of Blended Move Using Follow Contour Velocity Constrained or Unconstrained
bldmvefolcont
The following table shows the bits status at the transition points.
Bit
TP1
TP2
TP3
Move1.DN
T
T
T
Move1.IP
T
F
F
Move1.AC
T
F
F
Move1.PC
F
T
T
Move2.DN
T
T
T
Move2.IP
T
T
F
Move2.AC
F
T
F
Move2.PC
F
F
T
cs1.MoveTransitionStatus
F
F
F
cs1.MovePendingStatus
T
F
F
cs1.MovePendingQueueFullStatus
T
F
F
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