Access the CoordinateSystem object

Set when an axis lock is requested for an MCLM or MCCM instruction and the axis has crossed the Lock Position. Cleared when an MCLM or MCCM is initiated.

Sets when vector is accelerating. Clears when a blend is in process or when vector move is at speed or decelerating.

Sets when vector is decelerating. Clears when a blend is in process or when vector move is accelerating or when move completes.

Sets for Actual Tolerance termination type only. The bit is set after the following two conditions have been met. 1) Interpolation is complete. 2) The actual distance to the programmed endpoint is less than the configured coordinate system’s Actual Tolerance value. It remains set after the instruction completes. It is reset when a new instruction is started.

Sets for all termination types whenever the distance to the programmed endpoint is less than the configured coordinate system’s Command Tolerance value and remains set after the instruction completes. It is reset when a new instruction is started.

Set of bits that define the Joints direction sense. By default, the Joints direction sense bits are zero. This indicates that the user convention is the same as the Rockwell Kinematics convention. If any of the Joints have the opposite convention to the Rockwell convention, set the corresponding Joints direction sense bit to 1.

The Stopping Status bit is cleared when the MCCM instruction executes.

Sets when MCCM begins axis motion. Clears on the .PC bit of the last motion instruction or a motion instruction executes which causes a stop.

Sets when No Decel or Command Tolerance termination type is satisfied. When blending collinear moves the bit is not set because the machine is always on path. It clears when a blend completes, the motion of a pending instruction starts, or a motion instruction executes which causes a stop. Indicates not on path.

The move pending bit is set once a coordinated motion instruction is queued. Once the instruction has begun executing, the bit will be cleared, provided no subsequent coordinated motion instructions have been queued in the mean time.In the case of a single coordinated motion instruction, the status bit may not be detected by the user in the

Logix Designer

application since the transition from queued to executing is faster than the coarse update.

The real value of the bit comes in the case of multiple instructions. As long as an instruction is in the instruction queue, the pending bit will be set. This provides the

Logix Designer

application programmer a means of stream-lining the execution of multiple coordinated motion instructions. Ladder logic containing coordinated motion instructions can be made to execute faster when the programmer allows instructions to be queued while a preceding instruction is executing. When the MovePendingStatus bit is clear, the next coordinated motion instruction can be executed (that is, setup in the queue).

Sets when the instruction queue is full. It clears when the queue has room to hold another new coordinated move instruction.

The coordinate system is the source of an active transform.

The coordinate system is the target of an active transform.

Set when an axis lock is requested for an MCLM or MCCM instruction and the axis has crossed the Lock Position. Cleared when an MCLM or MCCM is initiated.

For the enumerations Immediate Forward Only and Immediate Reverse Only, the bit is set immediately when the MCLM or MCCM is initiated.

When the enumeration is Position Forward Only or Position Reverse Only, the bit is set when the Master Axis crosses the Lock Position in the specified direction. The bit is never set if the enumeration is NONE.

The CoordMotionLockStatus bit is cleared when the Master Axis reverses direction and the Slave Axis stops following the Master Axis. The CoordMotionLockStatus bit is set again when the Slave Coordinate System resumes following the Master Axis. The CoordMotionLockStatus bit is also cleared when an MCS is initiated.

Coordinate Definition for the coordinates in geometry

Zero Angle Orientation for the fourth axis of non-Cartesian geometries.

Zero Angle Orientation for the fifth axis of non-Cartesian geometries.

Zero Angle Orientation for the sixth axis of non-Cartesian geometries.

Linear length of the wrist link of a robot.

Pitch of SCARA Independent Coupled Screw.

Active Tool Identifier specified by user in the MCTO instruction.

Maximum speed of the orientation axes of the coordinate system.

Maximum acceleration of the orientation axes of the coordinate system.

Maximum deceleration of the orientation axes of the coordinate system.

Active work frame

The offset along the X-axis from the center of the bottom base plate to the Joint 4 frame for 5-axis Delta geometry.

The offset along the Z axis from the center of the bottom base plate to the Joint 4 frame for 5-Axis Delta geometry.

The offset along the X-axis J4 frame to the Joint 5 frame for 5-Axis Delta geometry.

The offset along the Z-axis J4 frame to the Joint 5 frame for 5-axis Delta geometry.

The offset along the Z-axis J5 frame to the EOA frame for 5-axis Delta geometry.

The ratio of the rotation axis to the tilt axis.

The ratio of the rotation axis to the tilt axis.

Relative direction of the coupled J4 rotational axis to the J5 tilt axis for Delta J1J2J3J4J5 Robot geometry.