Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 417
Speed Units SINT, INT, or DINT Immediate 0 = Units per Sec
1 = % of Maximum
4= Units per MasterUnit
Accel Rate SINT, INT, DINT, or REAL Immediate or Tag [coordinate units]
Accel Units SINT, INT, or DINT Immediate 0 = Units per Sec
2
1 = % of Maximum
4= Units per MasterUnit
2
Decel Rate SINT, INT, DINT, or REAL Immediate or Tag [coordinate units]
Decel Units SINT, INT, or DINT Immediate 0 = Units per Sec
2
1 = % of Maximum
4= Units per MasterUnit
2
Profile SINT, INT, or DINT Immediate 0 = Trapezoidal
1 = S-curve
Accel Jerk SINT, INT, DINT, or REAL Immediate or Tag You must always enter values for
the Accel and Decel Jerk
operands. This instruction only
uses the values if the Profile is
configured as S-curve.
Accel Jerk is the acceleration jerk
rate for the coordinate system.
Decel Jerk is the deceleration jerk
rate for the coordinate system.
Enter the jerk rates in these Jerk
Units.
0 = Units per sec
3
1 = % of Maximum
2 = % of Time
4 = Units per MasterUnit
3
6 = % of Time-Master Driven
Use these values to get started.
Accel Jerk = 100 (% of Time)
Decel Jerk = 100 (% of Time)
Jerk Units = 2
Decel Jerk SINT, INT, DINT, or REAL Immediate or Tag
Jerk Units SINT, INT, or DINT Immediate or Tag
Termination Type SINT, INT, or DINT Immediate or Tag 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 Choose a Termination Type in
the Related Topics section below.
Merge SINT, INT, or DINT Immediate 0 = Disabled
1 = Coordinated Motion
2 = All Motion
Merge Speed SINT, INT, or DINT Immediate 0 = Programmed
1 = Current
To Next Page
Loading...
