Cartesian coordinate system
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 53
Bit TP1 TP2 TP3 TP4
Move1.PC F T T T
Move2.DN T T T T
Move2.IP T T T F
Move2.AC F T T F
Move2.PC F F F T
cs1.MoveTransitionStatus F T F F
cs1.MovePendingStatus T F F F
cs1.MovePendingQueueFullStatus T F F F
The following lists the bit states at transition points of Blended Move by using
Command Tolerance.
linear linear move
This table shows the bit status at the various transition points shown in the
preceding graph with termination type of Command Tolerance. For Command
Tolerance termination type distance-to-go for transition point TP2 is equal to
Command Tolerance for the coordinate system cs1.
Bit TP1 TP2 TP3 TP4
Move1.DN T T T T
Move1.IP T F F F
Move1.AC T F F F
Move1.PC F T T T
Move2.DN T T T T
Bit states at transition points of
blended move by using
command tolerance
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