Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016 39
Configure a Cartesian Coordinate System Chapter 2
Choose a Termination Type
The termination type determines when the instruction is complete. It also
determines how the instruction blends its path into the queued MCLM or
MCCM instruction, if there is one.
1. Choose a termination type.
If You Want the Axes to (vector speeds) And You Want the Instruction to Complete When the Then Use this Termination Type
Stop between moves Both of these events occur:
• Command position equals target position.
• The vector distance between the target and actual positions is less
than or equal to the Actual Position Tolerance of the coordinate
system.
0 - Actual Tolerance
Command position equals the target position. 1 - No Settle
Keep the speed constant except between moves Command position gets within the Command Position Tolerance of
the coordinate system.
2 - Command Tolerance
Axes get to the point at which they must decelerate at the
deceleration rate.
3 - No Decel
Transition into or out of a circle without stopping 4 - Follow Contour Velocity Constrained
Accelerate or decelerate across multiple moves 5 - Follow Contour Velocity Unconstrained
Use a specified Command Tolerance The command position gets within the Command Position Tolerance
of the coordinate system.
6 - Command Tolerance Programmed
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