Motion Coordinated Path Move (MCPM)

Use the Motion Coordinated Path Move (MCPM) instruction to start a multi-dimensional coordinated path move for the specified Primary axes (X, Y, Z) and orientation axes (Rx, Ry, Rz) of a Cartesian coordinate system. Use this instruction to program Cartesian moves on robots with orientation control.
Architecture and safety support
Architecture
Standard
Safety
CompactLogix 5370, ControlLogix 5570, Compact GuardLogix 5370, and GuardLogix 5570 controllers
Yes
No
Compact GuardLogix 5380, CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix 5580 controllers
Yes
No
This is a transitional instruction. Follow these steps when using it:
  • In ladder logic, insert an instruction to toggle the rung-condition-in from false to true each time the instruction should execute.
  • In a Structured Text routine, insert a condition for the instruction to cause it to execute only on a transition.
Available Languages
Ladder Diagram
MCPM_LD_avail lang_v31
Function Block
This instruction is not available in function block.
Structured Text
MCPM (CoordinateSystem, MotionControl, Path, Length, Dynamics, LockPosition, LockDirection);
Operands
IMPORTANT:
Do not use the same tag name for more than one instruction in the same program. Do not write to any instruction output tag under any circumstances.
WARNING:
If instruction operands are changed while in Run mode, the pending edits must be accepted and the controller mode cycled from Program to Run for the changes to take effect.
Configuration
This table provides the operands used to configure the instruction. These operands cannot be changed at runtime.
Operand
Data Type
Format
Description
Coordinate System
COORDINATE_SYSTEM
Tag
Cartesian coordinate system used to program the moves.
Reference to Cartesian coordinate system used to program the moves.For controllers that support the REF_TO motion data types, the coordinate system operand type can be replaced by the REF_TO_COORDINATE_SYSTEM type.
Motion Control
MOTION_INSTRUCTION
Tag
Structure used to access instruction status parameters.
For further information of configuring coordinate systems refer to the Motion Coordinate System User Manual publication MOTION-UM002.
Inputs
This table explains the instruction inputs. The inputs may be field device signals from input devices or derived from user logic.
Operand
Data Type
Format
Description
Path
PATH_DATA
Tag
See PATH_DATA Structure
Length
DINT
Immediate Tag
This input is immediate and indicates the length of the PATH_DATA input.
Tip:
 Set the length to 1. Values greater than 1 are reserved for future use.
Dynamics
DYNAMICS_DATA
Tag
See DYNAMICS_DATA Structure
Lock Position
REAL
Tag
Position on the Master Axis where a Slave should start following the master after the move has been initiated on the slave axis coordinate system.
Tip:
 Lock Position is only valid when the MCPM instruction is used in Master Driven Speed Control mode.
Lock Direction
UINT32
Tag
Specifies the conditions when the Lock should be activated.
Tip:
 Lock Direction is only valid when the MCPM instruction is used in Master Driven Speed Control mode.
PATH_DATA Structure
Operand
Scroll, List, or Check Box
Data Type
Default
Notes
Interpolation Type
List of Point-to-Point (0) Continuous Path Linear (1)
DINT
0
Point-to-point move
2
Continuous Path Linear
See Interpolation Type related topics below.
Position [X, Y, Z, Rx, Ry, Rz]
List of constant or variable
REAL [9] 1
0
[X,Y.Z] in Coordination Units,
[Rx, Ry, Rz] X-Y-Z fixed angle format in degrees
Index 0: X
1: Y
2: Z
3: Rx
4: Ry
5: Rz
6: *
2
7: *
2
8: *
2
See Position related topics in the following section.
Robot Configuration
List of Bit values :
Bit0
 – Robot Configuration Change(1)/Same(0)
Bit1
 – Lefty(1)/Righty(0)
Bit2
 – Above(1)/Below(0)
Bit3
 – Flip(1)/No flip(0)
DINT
0
Bit 0 to 3
 – Applies only to Articulated and SCARA geometries. Set to zero for Delta geometries.
See Robot configuration.
Turns Counters
List of variables
INT 16 [4]
0
Index 0: J1
1: J4
2: J6
3
2
Joint axes turns counters. Each integer is a signed value (±127).
Move Type
List of Absolute (0), Incremental (1)
DINT
0
Select the move type.
Refer to Motion Coordinated Linear Move (MCLM) for more information on this operand.
Termination Type
List of
Actual Tolerance(0),
No Settle(1)
Command Tolerance(6)
DINT
0
Refer to Motion Coordinated Linear Move (MCLM) for more information on this operand.
Command Tolerance Linear
List of constant or variable
REAL
0
Used for Cartesian Primary axes position only.
Coordination Units Linear
DYNAMICS_DATA_STRUCTURE
Operand
Scroll, List, or Check Box
Data Type
Default
Notes
Units Mode
List of 0 = % of Maximum
1 = Coord Units (per)
DINT
0
See Units Mode section.
Time
Units
List of 0 = Seconds
1 = Master Units
DINT
0
Not applicable if Percentage of Maximum is selected as unit mode.
Applies to speed, acceleration, and deceleration only.
See Time Units section.
Profile
List of 0= Trapezoidal
1= S-Curve
REAL
0
1
See Profile section.
Speed
List of Constant or Value
REAL
0
1
% of Maximum or Coordination Units/Time Units.
Acceleration
List of Constant or Value
REAL
0
1
% of Maximum or Coordination Units/Time Units
2
.
Deceleration
List of Constant or Value
REAL
0
1
% of Maximum or Coordination Units/Time Units
2
.
Acceleration Jerk
List of Constant or Value
REAL
0
% of Time accelerating
For all axes always
See Acceleration Jerk section below.
Applies to acceleration and orientation acceleration.
Deceleration Jerk
List of Constant or Value
REAL
0
% of Time deceleration
For all axes always.
Applies to deceleration and orientation deceleration.
Orientation Speed
List of Constant or Value
REAL
0
% of Maximum of orientation speed in coordinate system configuration or Degrees/Time Unit.
Orientation Acceleration
List of Constant or Value
REAL
0
% of Maximum orientation acceleration in coordinate system configuration or Degrees/Time Unit2.
Orientation Deceleration
List of Constant or Value
REAL
0
% of Maximum orientation deceleration in coordinate system configuration or Degrees/Tim Unit2.
1
 The units mode specifies the units for dynamics parameters of the coordinated move and not the individual axes. The two selections give an option for the user to program directly in Coordination Units or % of the maximum configured in the coordinate system tag. All the primary axes are configured in different user units, such as mm, inches, and cm, while the orientation axes units are in degrees.
2
 Reserved for future use.
Path Data
Interpolation Type
  • Point to Point
    : In this type of motion the end position of the Tool Center point (TCP) is designated but the path used to reach the end position is irrelevant. This is generally the quickest way to move the TCP to a destination position. This type of interpolation will be available only for the Articulated and SCARA type geometries in future releases.
  • Continuous Path Linear
    : In this type of motion the TCP moves from a starting position to a commanded end point along a straight line. During the linear move the orientation of the TCP changes continuously from the start orientation position to the commanded orientation position.
Position
This is a one dimensional array, whose dimension is defined to be at least equivalent to the number of axes specified in the coordinate system, 6 in Cartesian coordinate system where X, Y, Z, Rx, Ry, Rz are values of the TCP with reference to a reference frame. The Position array defines either the new absolute or incremental position.
Below is an example of TCP point which has translation on X, Y, and Z axis followed with rotation on Z axis (Rz = 90°) resulting in TCP’s X axis aligning with Y axis of reference frame.
See Configuring Cartesian XYZRxRyRz Coordinate System for more details on Cartesian coordinate system.
RSL5K_MCPM_Position_v31.png
Robot configuration
A robot can reach an end destination position with different joint positions and, consequently different robot configurations within the confines of established joint limits. If the user wants the robot to move to a position with a specific configuration in continuous path (CP) mode, specify the end position along with the desired pose of the robot.
  • RIGHTY versus LEFTY
  • ABOVE versus BELOW
  • FLIP versus NOFLIP
For more details refer to the Motion Coordinate System User Manual publication MOTION-UM002 for configuration sections for SCARA Independent J1J2J3J6 Robots, Articulated Dependent J1J2J3J6 Robots, and Articulated Independent J1J2J3J4J5J6 Robots.
Dynamics Data
Profile
  • Trapezoidal (0): When the value is set to 0 the profile setting takes precedence over the acceleration Jerk and deceleration Jerk value (values are defaulted to 0%), as a result the velocity profile is always trapezoidal. Refer to the Profile information in Motion Coordinated Linear Move (MCLM) for further details.
  • S Curve (1): When the value is set to 1 the acceleration and deceleration jerk values are taken into account. The planner attempts to achieve the acceleration and deceleration value calculated from the dynamics settings. Refer to the Profile information in Motion Coordinated Linear Move (MCLM) for further details.
Units Mode
  • % of Maximum (0): When Units Mode is selected to be percentage of Maximum then the 6 dynamics parameters (as shown in 1st column in table below) are programmed to be percentage of those defined in dynamics tab of the coordinate system (as shown in 2nd column in table below).
    For Example, if Units Mode is set to percentage of Maximum, the Speed is set to 50, and the Vector. Maximum Speed is set to 100mm/sec: the maximum linear speed of the MCLM could be up to 50% of the Maximum speed, i.e. 50mm/sec. This option is available for only CP moves ( Support for PTP in future).
    Dynamics Data Parameter
    Coordinate System Parameters Specification
    Speed
    Vector. Maximum Speed. Primary
    Acceleration
    Vector. Maximum Acceleration. Primary
    Deceleration
    Vector. Maximum Deceleration. Primary.
    Orientation Speed
    Vector Maximum Speed Orientation
    Orientation Acceleration
    Vector Maximum Acceleration Orientation
    Orientation Deceleration
    Vector Maximum Deceleration Orientation
  • Coordination Units (1): The speed for 6 parameters (as shown in 1st Column in table above) are programming units of Coordination Units per Time Unit, as defined by the Time Units parameter.
    • Speed is programmed in Coordination Units per Second or Coordination Units per Master Unit.
    • Acceleration and Deceleration in Coordination Units per Seconds
      2
       or Coordination Units per second Master Units
      2
      .
    • Orientation Speed is programmed in Degrees per Second or Degrees per Master Unit.
    • Orientation Acceleration and Deceleration in Degrees per Seconds
      2
       or Degrees per Master Units
      2
Time Units
  • Seconds (0): Time units is in seconds
  • Master Units (1): In a Master Slave configuration, the Speed/Acceleration/Deceleration of Master determines the final Primary and Orientation speed/Acceleration/Deceleration of the MCPM instruction.
For the example consider that a MDCC establishes a linkage between Master axis and slave Coordinate system. The Master axis is being moved by an MAM instruction and an MCPM instruction is executing: The resultant Speed/Acceleration/Deceleration value can be calculated as shown below.
  • Formula for velocity conversion from [Units/Master Units] to [Units/Seconds]:
    V
    S
    [SU/TU] = V
    S
    [SU/MU] * VM[MU/TU]
    If the Slave is running at 3 Degrees/MU and master is running at 2 MU/sec then the slave speed is: 3*2 = 6 Degrees/Second.
  • Formula for acceleration and deceleration conversion from [Units/Master Units2] to [Units/Seconds2]:
    aS[SU/TU2] = aS[SU/MU2] * VM
    2
     [MU/TU] + VS[SU/MU] * aM[MU/TU2]
    • If the Slave is accelerating at 5 Degrees/MU2 and master is running at constant speed 2 MU/sec (aM=0), the slave acceleration would be: 5*2*2 = 20 Degrees/Second2.
    • If the Slave is accelerating at 5 Degrees/MU2, its instantaneous speed is 3 Degrees/MU and the Master is running at speed 2 MU /sec and acceleration 4 MU /sec2 then the slave acceleration is: 5*2*2 + 3*4 = 32 Degrees/Second2.
Acceleration Jerk
This parameter specifies the percentage of Time, of the Acceleration that the MCPM path should use, to compute the acceleration jerk rate of the MCPM path move. This is always programmed in units of percentage of time.
See Jerk Unit topic below on how to convert percentage of Time to engineering units.
See Acceleration Jerk topic in MCLM document for more details
Deceleration Jerk
This parameter specifies the percentage of Time for the Deceleration that the MCPM path should use to compute the deceleration jerk rate of the MCPM path move. This is always programmed in units of percentage of time.
See Jerk Units topic below on how to convert percentage of Time to engineering units.
See Deceleration Jerk topic in MCLM document for more details.
Jerk Unit: percentage of time (% of time)
If you want to convert % of Time to engineering units, use these equations.
  • For Acceleration jerk calculation in Engineering Units, use this calculation:
MCPM Jerk unit percent of time_formula 1
  • For deceleration jerk calculation in Engineering Units, use this calculation:
RSL5K_MCPM Jerk unit percent of time_formula 2.png
Orientation Speed
Orientation speed is a vector speed, its value is applied as a single orientation vector composed of Rx Ry and Rz as orthogonal components. For example if the Orientation speed is 5 Deg/Sec.
MCMP_orientation speed formula_v31
Orientation Acceleration and Deceleration
Orientation acceleration/deceleration is a vector value, its value is applied as a single orientation vector composed of Rx, Ry and Rz as orthogonal components. For example if the Orientation acceleration or deceleration is set to 5 Deg/Sec
2
, then
MCMP_orientation accel and decel formula_v31
Lock Direction
Specifies the direction that the master axis must be moving when it crosses the Lock Position for the lock to be activated.
TIP:
When the Time Unit is set to Master units the value set in this field should be the direction of Master. Refer to the MCLM instruction for further information on the Lock Direction operand.
Lock Position
Specifies the master axis position where the slave will become locked to the master axis.
Outputs
N/A
Affects Math Status Flags
No
Major/Minor Faults
None specific to this instruction. A major fault can occur if an uninitialized reference or a reference of the incorrect type is passed to the Coordinate System operands. See Index Through Arrays for array-indexing faults.
Execution
Ladder Diagram
Condition/State
Action Taken
Prescan
Same as Rung-condition-in is false.
Rung-condition-in is false
The .EN, .DN, and .ER are cleared to false.
Rung-condition-in is true and .EN bit is false
The .EN bit is set to true and the instruction executes.
Rung-condition-in is true and .EN bit is true
N/A
Postscan
N/A
Structured Text
Condition/State
Action Taken
Prescan
See Prescan in the Ladder Diagram table.
Normal execution
See Rung-condition-in is false, followed by Rung-condition-in is true in the Ladder Diagram table.
Postscan
See Postscan in the Ladder Diagram table.
Error Codes
See Motion Error Codes (.ERR) for motion instructions.
Extended Error Codes
Extended Error codes provide additional instruction-specific information for the Error Codes that are generic to other instructions. See Motion Error Codes (ERR) for Motion Instructions. Extended Error Codes meaning depends on the Error Codes they are associated with.
Error Code
(.ERR)
Extended Error Code
(.EXERR)
Description
7
0 thru 5
Shutdown State Error
For a motion coordinated instruction, look at the extended error code (EXERR). It identifies which axis caused the error.
Example: If EXERR is zero, check the axis for dimension zero.
11
0 thru 5
Axis Not Configured
For single axis instructions:
The Extended Error code for MAG, MDAC, MAPC, MAM, MAJ, MATC, and MCD is defined as:
1 = Slave axis
2 = Master Axis
For the MAM, MCD, and MAJ instructions in time driven mode, the axis being moved is a slave axis.
For multi-axes instructions:
The Extended Error code for MCPM, MDCC, MCLM, MCCM, and MCCD is defined as: The axis number in the coordinate system where
0 = 1st axis
2 = Master Axis or 3rd Slave Axis
13
2, 3, 5
Parameter Out of Range
An EXERR = 0 means the first operand of the instruction is outside its range.
16
0 thru 5
Homing is in process on an axis.
Extended error code indicates which axis caused the error.
25
0 thru 5
You attempted to execute an instruction that is not correct.
Extended error code indicates which axis caused the error
Tip:
 MCPM returns this error if the axis is configured in torque mode.
53
0 thru 5
Axis is inhibited
For single axis instructions, the Extended Error code for MAG, MDAC, MAPC, MAM, MAJ, MATC, and MCD is defined as:
1 = Slave axis
2 = Master Axis
For the MAM, MCD, and MAJ instructions in time driven mode, the axis being moved is a slave axis.
For multi-axes instructions, the Extended Error code for MCPM, MDCC, MCLM, MCCM, and MCCD is defined as:
The axis number in the coordinate system where
0 = 1st axis
2 = Master Axis or 3rd Slave Axis
65
0 thru 5
Axis Position overflow
The range for position depends on the conversion constant of the axis.
Maximum positive position = 2,147,483,647 / conversion constant of the axis.
Maximum negative position = -2,147,483,648 / conversion constant of the axis.
Select a conversion constant of 2,097,152 counts/inch. In this case:
  • Maximum positive position = 2,147,483,647 / 2,097,152 counts/inch = 1023 inches.
  • Maximum negative position = -2,147,483,648 / 2,097,152 counts/inch = -1023 inches.
For a motion coordinated instruction, look at the extended error code (EXERR). It identifies which axis caused the error.
76
0 thru 5
Maximum deceleration jerk is set to zero
You cannot start motion that uses an S-curve profile if the maximum deceleration jerk for the axis is zero.
(EXERR). It identifies which axis caused the error.
138
0
MCPM Path Data Invalid Value
MCPM Path Data Interpolation Type
If the interpolation type is set to anything other than 0 or 1, the instruction will report this error.
138
1
MCPM Path Data has Invalid Value.
The instruction will report error if either of the below conditions are true.
  • If the end position is either infinity or NAN
  • If kinematic transform is active
    • If end position Rx is not between +/-180 deg for absolute moves
    • If end position Rz is not between +/-180 deg for absolute moves
    • If end position Ry is not between +/-90 deg for absolute moves
  • If kinematic transform is active AND robot Geometry is Delta J1J2J6 (Delta 3 axes) or Delta J1J2J3J6 (Delta 4 axes)
    • If end position Rx is not 180Degrees symbol for absolute moves
    • If end position Ry is not 0Degrees symbol for absolute moves
  • If kinematic transform is active AND robot Geometry is Delta J1J2J3J4J5 (Delta 5 axis)
    • If end position Rx is not 0 or 180Degrees symbol for absolute moves.
138
2
MCPM Path Data Invalid Value in MCPM Path Data Robot Config
If an invalid Robot Configuration is specified (any bits other than but 0,1,2,3 are set), the instruction will report this error.
138
3
MCPM Path Data Invalid Value in MCPM Path Data Turns Counter
If turns counter value is not within +/-127, the instruction will report this error.
138
4
MCPM Path Data Invalid Value in MCPM Path Data Move Type
If the move type is not either absolute or incremental, the instruction will report this error.
138
5
MCPM Path Data Invalid Value in MCPM Path Data TT Type
If any term types other than 0, 1 and 6 are specified, the instruction will report this error.
138
6
MCPM Path Data Invalid Value in MCPM Path Data CMD TOL
If negative command tolerance is specified or INF or NAN is specified, the instruction will report this error.
139
0
MCPM Dyn Data Invalid Value in MCPM Dyn Data Units Mode
If Units Mode is specified anything other than 0, 1, or 2, instruction will report this error.
139
1
MCPM Dyn Data Invalid Value in MCPM Dyn Data Time Units
If Time Units is specified anything other than 0 or 1, the instruction will report this error.
139
2
MCPM Dyn Data Invalid Value in MCPM Dyn Data Profile
If Profile is specified anything other than 0(trap) or 1(s-curve), the instruction will report this error.
139
3
MCPM Dyn Data Invalid Value in MCPM Dyn Data Speed
If the speed is negative or INF or NAN, the instruction will report this error.
139
4
MCPM Dyn Data Invalid Value in MCPM Dyn Data Accel
If the accel is zero or negative or INF or NAN, the instruction will report this error.
139
5
MCPM Dyn Data Invalid Value in MCPM Dyn Data Decel
If the decel is zero or negative or INF or NAN, the instruction will report this error.
139
6
MCPM Dyn Data Invalid Value in MCPM Dyn Data Accel Jerk
If Jerk Units are %time and if the accel jerk is INF, NAN, less than or equal to zero or value greater than 100%, then the instruction will error.
Tip:
These errors apply only for s-curve.
139
7
MCPM Dyn Data Invalid Value
MCPM Dyn Data Decel jerk
If Jerk Units are %time, and if the decel jerk is NAN and less than or equal to zero, then the instruction will report error.
Tip:
 This error only applies for s-curve.
139
8
MCPM Dyn Data Invalid Value
MCPM Dyn Data Orientation Speed
If the orientation speed is negative or INF or NAN, the instruction will report this error.
139
9
MCPM Dyn Data Invalid Value
MCPM Dyn Data Orientation Accel
If the orientation accel is zero or negative or INF or NAN, the instruction will report this error.
139
10
MCPM Dyn Data Invalid Value
MCPM Dyn Data Orientation Decel
If the orientation decel is zero or negative or INF or NAN, the instruction will report this error.
155
none
MCPM Robot Geometry Not Supported
If the user tries to run the MCPM instruction on an Articulated Independent J1J2J3J4J5J6 robot system, the instruction reports this error.
157
none
MCPM Joint Direction Sense Not Supported
If the user tries to set the joint direction sense and run the MCPM instruction, the instruction reports this error.
Diagnostic Codes and Corrective Actions
N/A
Example
Ladder Diagram
MCPM_LD_Example_v31
Structured Text
MCPM (CS1, MCPM1, MyPath1, 1, MyDynamics1, 0, 0);
TIP:
For further information on creating geometries with orientation support, see the Motion Coordinate System User Manual publication MOTION-UM002.
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