Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 449
SafetyMargin1 = CUP * MAS
else
SafetyMargin1 = CUP * MAS * .02
2. For all other moves in the blending sequence between first and last:
SafetyMargin2 = CUP * MAS * .02 * number of blending moves between
1st and last
3. If a Command Tolerance value of 100% is used for the last in the sequence
then:
SafetyMargin3 = CUP * MAS
else
SafetyMargin3 = CUP * MAS * .02
4. Final SafetyMargin = SafetyMargin1 + SafetyMargin2 + SafetyMargin3
Once a sequence is programmed and verified, it will repeat.
Refer to the See also section for more information.
Merge
The Merge operand determines whether or not to turn the motion of all specified
axes into a pure coordinated move. The Merge options include: Merge Disabled,
Coordinated Motion, or All Motion.
• Merge Disabled
Any currently executing single axis motion instructions involving any axes
defined in the specified coordinate system are not affected by the activation
of this instruction, and results in superimposed motion on the affected axes.
Also, any coordinated motion instructions involving the same specified
coordinate system runs to completion based on its termination type.
• Coordinated Motion
Any currently executing coordinated motion instructions involving the
same specified coordinate system are terminated. The active motion is
blended into the current move at the speed defined in the merge speed
parameter. Any pending coordinated motion instructions are cancelled.
Any currently executing system single axis motion instructions involving
any axes defined in the specified coordinate system will not be affected by
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