Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 115
Accel Rate REAL REAL Immediate or
Tag
Acceleration rate of the axis in Accel Units
Accel Units DINT DINT Immediate Which units do you want to use for the Accel Rate?
Units per sec
2
(0)
% of Maximum (1)
Time (3)
Units per MasterUnit
2
(4)
Master Units (7)
Decel Rate REAL REAL Immediate or
Tag
Deceleration rate of the axis in Deceleration Units.
Decel Units DINT DINT Immediate Which units do you want to use for the Decel Rate?
Units per sec
2
(0)
% of Maximum (1)
Time (3)
Units per MasterUnit
2
(4)
Master Units (7)
Profile DINT DINT Immediate Select the velocity profile to run for the move:
• Trapezoidal (0)
• S-Curve (1)
Accel Jerk REAL REAL Immediate or
Tag
The instruction only uses the jerk operands if the Profile is S-curve.
You must always fill them in however.
• Accel Jerk is the acceleration jerk rate for the axis.
• Decel Jerk is the deceleration jerk rate for the axis.
Use these values to get started.
• Accel Jerk = 100
• Decel Jerk = 100
• Jerk Units = 2 (% of Time)
You can also enter the jerk rates in these Jerk Units.
• Units per sec
3
(0)
• % of Maximum (1)
• % of Time (2)
• Time (3)
• Units per MasterUnit
3
(4)
• % of Time-Master Driven (6)
• Master Units (7)
Decel Jerk REAL REAL Immediate or
Tag
Jerk Units DINT DINT Immediate
Merge DINT DINT Immediate Do you want to turn all current axis motion into a pure move
governed by this instruction regardless of the motion instructions
currently in process?
• NO— Choose Disabled (0)
• YES — Choose Enabled (1)
Merge Speed DINT DINT Immediate If Merge is Enabled, which speed do you want to move at?
• Speed of this instruction — Select Programmed (0)
• Current speed of the axis — Select Current (1)
Lock Position REAL REAL Immediate or
Tag
Position on the Master Axis where a Slave should start following the
master after the move has been initiated on the Slave Axis.
See the Structure section below for more information.
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