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Motion Coordinated Instructions (MCLM, MCCM, MCCD, MCS, MCSD, MCT, MCTP, MCSR, MDCC) Appendix A Table 27 - Entries for Structured Text Operands This Operand Has These Options That You Enter as Text Or as Termination Type No enumeration 0 = Actual Tolerance 1 = No Settle 2 = Command Tolerance 3 = No Decel 4 = Follow Contour Velocity Constrained 5 = Follow Contour Velocity Unconstrained 6 = Command Tolerance Programmed See Blended Moves and Termination Types on page 34. Merge Disabled Coordinatedmotion Allmotion 0 1 2 Merge Speed Programmed Current 0 1 Command Tolerance No enumeration Immediate or tag Lock Position No enumeration Immediate, real, or tag Lock Direction None immediateforwardonly Immediatereverseonly positionforward positionreverse 0 1 2 3 4 Event Distance No enumeration Array Calculated Data No enumeration Array Executing the Instruction MCCM is a transitional instruction. • In relay ladder, toggle the rung-condition-in from cleared to set each time the instruction executes. • In structured text, condition the instruction so that it only executes on a transition. Rockwell Automation Publication MOTION-UM002D-EN-P - February 2015 143
