Allen-Bradley 1756-M02AS - Bit States at Transition Points of Blended Move by Using Command Tolerance

Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016 37
Configure a Cartesian Coordinate System Chapter 2
Bit States at Transition Points of Blended Move by Using Command
Tolerance
Tab le 1 2 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.
linear ➞ linear move
Table 12 - Bit Status with Command Tolerance Termination Type
Bit TP1 TP2 TP3 TP4
Move1.DN TTTT
Move1.IP TFFF
Move1.AC TFFF
Move1.PC FTTT
Move2.DN TTTT
Move2.IP TTTF
Move2.AC FTTF
Move2.PC FFFT
cs1.MoveTransitionStatus F T F F
cs1.MovePendingStatus T F F F
cs1.MovePendingQueueFullStatus T F F F