Allen-Bradley 1756 ControlLogix Instruction Manual page 497

Multi-Axis Coordinated Motion Instructions
CalculatedDataAvailable
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Indicates that the requested data has been returned in the Calculated Data
array element and that the Logix Designer application has updated the output
data in the Calculated Data parameter. Only one status bit is used to indicate all
Calculated Data is available.
For the CalculatedDataAvailabe status bit, the moves in the motion queue are
processed in batches. The first batch in the motion queue includes all moves in
the queue up to and including the first move with a term type TT0 or TT1, or a
move with a speed of 0.
For moves in either Time Driven mode or Mater Driven mode, the
CalculatedDataAvailable bit is set when:
• MCLM or MCCM is enqueued and belongs to the first batch in the queue.
There are two exceptions:
• Moves with a speed of 0, although belonging to the first batch, do
not have their CalculatedDataAvailable bit set. Their
CalculatedDataAvailable bit is set after their Speed is changed
to nonzero with a MCCD.
• Moves with a term type TT2 through TT6 do not have their
CalculatedDataAvailable bit set if they are the last move in the
queue.
CalculatedDataAvailable bit is cleared by:
• MAS (all) or MASD - This clears the CalculatedDataAvailable bit of the active
MAMs and all enqueued MCLM or MCCMs that contain the specified axis.
• MCS (coordinated) - This only clears the CalculatedDataAvailable bit for all
enqueued MCLM or MCCMs in the coordinate system being stopped.
• MCS (all) or MCSD - This clears the CalculatedDataAvailable bit of all active
MAMs that contain any axes in the referenced coordinate system and all
enqueued MCLM or MCCMs of the coordinate system being stopped.
• MGS or MGSD is executed (goes IP) - This clears the CalculatedDataAvailable
bit of all active MAMs and all enqueued MCLM or MCCMs of the group being
stopped or shutdown.
• MCD or MCCD is executed (goes IP) - The CalculatedDataAvailable bit is reset
and is immediately set again.
• A MCLM or MCCM is executed (goes IP) with a merge enabled (either
Coordinated or Merge All) - The CalculatedDataAvailable bit of all enqueued
MCLM or MCCMs are cleared.
MCLMs and MCCMs that are blending with the next coordinated motion
instruction are still considered to be enqueued even if their PC flag was set
when the blending was started.
The CalculatedDataAvailable bit is not set for any move that Event Distance is
not specified (that is, for any move where the Event Distance parameter in the
instruction is zero).
MSF and MDF do not alter the state of the CalculatedDataAvailable bit.
Chapter 6
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