Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 489
Speed enumerations
Common enumerations are used for the speed parameter of all motion
instructions. Some instructions accept only limited subset of the speed
enumerations. Checks for valid unit combinations are done at instruction
execution time. Some enumerations that are in the following table are not used
now but are reserved for future enhancements. Additional tables are given below
that further clarify which combinations are accepted in MDSC mode and which
are accepted in Time Driven Mode.
Enumeration Definition Mode Compatibility Note
0
1
2
3
Units per sec
% Maximum
Reserved
Reserved
Time Driven
Existing Enumeration
Existing Enumeration
New Enumeration
Reserved for Time based
programming
4
5
6
7
Units per MasterUnit
Reserved
Reserved
Master Units
MDSC
New Enumeration
New Enumeration
Reserved for Time based
programming
These rules for Speed must be followed to determine allowable Time and MDSC
Driven Mode:
• When Speed is in either units/sec, %max, or seconds, then the instruction is
considered to be in Time Driven Mode, regardless of the selection of units
for acceleration, deceleration, or jerk.
• When Speed is in either Master Units or in Units/MasterUnit, then the
instruction is considered to be in Master Driven Mode, regardless of the
selection of units for acceleration, deceleration, or jerk.
• Speed, Acceleration, Deceleration, and Jerk must always be programmed in
the same mode (Time Driven or Master Driven) or you get a runtime error.
• When speed is specified in time unit seconds, the specified time is the total
time of the move, including acceleration and deceleration time.
• When speed is specified in Master distance units, the specified distance is
the total master distance of the move, including acceleration and
deceleration distance of the Master Axis.
deceleration, and jerk
enumerations for
coordinated motion
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