Allen-Bradley 1756-M02AS - Page 129

Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016 129
Index
motion coordinated instructions
See multi-axis coordinated motion
instructoins
MRP
120
Multi-Axis Coordinated Motion Instructions
107
Introduction
13
MCSR
47
Motion Coordinated Change Dynamics
(MCCD)
9
Motion Coordinated Circular Move (MCCM)
9
Operands Termination Type
39, 41, 43
Operands Termination Type Actual
Tolerance
39, 41, 43
Operands Termination Type Command
Tolerance
39, 41, 43
Operands Termination Type Follow
Contour Velocity Constrained
39, 41, 43
Operands Termination Type No Decel
39, 41, 43
Operands Termination Type No Settle
39, 41, 43
Motion Coordinated Linear Move (MCLM)
9
Operands Termination Type 39, 41, 43
Operands Termination Type Follow
Contour Velocity Unconstrained
39, 41, 43
Symmetric Profiles
43
Velocity Profiles
41
Motion Coordinated Shutdown (MCSD) 9
Motion Coordinated Shutdown Reset
(MCSR)
Description
47
Motion Coordinated Stop (MCS)
9
N
Naming a Coordinate System 14
non-linear motion
109
P
pending 117, 119, 121, 122, 125
position cam
125
pending cam
114, 123
point pair
108
position cam
115, 118, 123, 125
position cam profile
109
position-lock cams
109
profile
111
R
reciprocating motion 107
reverse only
117
run
111
run cam
112
S
salve axis 125
scaling
115
SCARA Delta
configuration parameters
78
establish the reference frame
76
identify the work envelope
78
SCARA Independent
reference frame
84, 86
Selective Compliant Assembly Robot Arm
configuration parameters
87
configure
81
establish reference frame 84
identify work envelope
86
link lengths
88
Singularity
planning for
definition of
83
slave axis
107, 111, 119
acceleration cam profile
111
execution mode 117
move process
110
position values
109
time cam profile 110
slave axis position
123
status bit
118
Studio 5000 Logix Designer application
9
Symmetric Profiles
paths of
43
T
time cam profile 109, 110
time cam status
122
types of camming
107
V
Velocity Profiles
of collinear moves
41
triangular
45