Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016 33
Configure a Cartesian Coordinate System Chapter 2
The MCLM and MCCM instructions reference a coordinate system called
Coordinate_System_1 (cs1). For example, the following 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, then:
Step = 2.
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.
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