Allen-Bradley 1756-M02AS - Blending Moves at Different Speeds

46 Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016
Chapter 2 Configure a Cartesian Coordinate System
Blending Moves at Different Speeds
You can blend MCLM and MCCM instructions where the vector speed of the
second instruction differs from the vector speed of the first instruction.
If the Next Move is And the Termination Type of the First Move is Then
Slower 2 - Command Tolerance
3 - No Decel
4 - Contour Velocity Constrained
5 - Contour Velocity Unconstrained
6 - Command Tolerance Programmed
Faster 2 - Command Tolerance
3 - No Decel
6 - Command Tolerance Programmed
4 - Contour Velocity Constrained
5 - Contour Velocity Unconstrained
Vector
speed
Target position of first
move
Vector
speed
Target position of first
move
Vector
speed
Target position of first
move