Multi-Axis Coordinated Motion Instructions
352 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
The following 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 (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
Move1.PC F T T T
Move2.DN T T T T
Move2.IP T T T F
Move2.AC F T T F
Move2.PC F F F T
cs1.MoveTransitionStatus F T F F
cs1.MovePendingStatus T F F F
cs1.MovePendingQueueFullStatus T F F F
Bit States at Transition Points of Blended Move Using Command Tolerance
The following table shows the bit status at the various transition points shown in
the preceding graph with termination type of Command Tolerance. For
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