40 Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016
Chapter 2 Configure a Cartesian Coordinate System
2. Make sure this selection is the right choice for you.
Termination Type Example Path Description
0 - Actual Tolerance The instruction stays active until 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.
At that point, the instruction is complete and a queued MCLM or MCCM instruction
can start.
Important: Make sure that you set the Actual Tolerance to a value that your axes
can reach. Otherwise the instruction stays in process.
1 - No Settle The instruction stays active until the command position equals the target position.
At that point, the instruction is complete and a queued MCLM or MCCM instruction
can start.
2, 6- Command Tolerance The instruction stays active until the command position gets within the Command
Tolerance of the coordinate system. At that point, the instruction is complete and a
queued MCLM or MCCM instruction can start.
If you don’t have a queued MCLM or MCCM instruction, the axes stop at the target
position.
3 - No Decel The instruction stays active until the axes get to the deceleration point. At that
point, the instruction is complete and a queued MCLM or MCCM instruction can
start.
• The deceleration point depends on whether you use a trapezoidal or S-Curve
profile.
• If you don’t have a queued MCLM or MCCM instruction, the axes stop at the
target position.
Logix Designer Application Compares To the And Uses the For the
100 of the configured length of the first instruction
by using a Command Tolerance termination type
Configured Command Tolerance for
the coordinate system
Shorter of the two
lengths
Command Tolerance length used for the first
instruction
100
of the configured length of the last move
instruction by using a Command Tolerance termination
type
Configured Command Tolerance for
the coordinate system
Shorter of the two
lengths
Command Tolerance length used for the next to last
instruction
50
of each of the lengths of all other move
instructions
Configured Command Tolerance for
the coordinate system
Shorter of the two
lengths
Command Tolerance length used for each individual
instruction
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