Allen-Bradley 1756-M08SE - Bit States at Transition Points of Blended Move by Using no Decel

Chapter 2
Cartesian coordinate system
52 Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Bit TP1 TP2 TP3
Move1.DN T T T
Move1.IP T F F
Move1.AC T F F
Move1.PC F T T
Move2.DN T T T
Move2.IP T T F
Move2.AC F T F
Move2.PC F F T
cs1.MoveTransitionStatus F F F
cs1.MovePendingStatus T F F
cs1.MovePendingQueueFullStatus T F F
The following lists the bit states at transition points of blended move by using no
decel.
linear linear move
This table shows the bit status at the various transition points shown in the
preceding graph with termination type of No Decel. For No Decel termination
type distance-to-go for transition point TP2 is equal to deceleration distance for
the Move1 instruction. If Move 1 and Move 2 are collinear, then Move1.PC will
be true at TP3, which is the programmed end-point of first move.
Bit TP1 TP2 TP3 TP4
Move1.DN T T T T
Move1.IP T F F F
Move1.AC T F F F
Bit States at transition points of
blended move by using no decel