Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 381
Operand Scroll, List, or Check Box Data Type Default Notes
Acceleration Jerk List of Constant or Value REAL 0 % of Time accelerating
For all axes always
See Acceleration Jerk section below.
Applies to acceleration and orientation
acceleration.
Deceleration Jerk List of Constant or Value REAL 0 % of Time deceleration
For all axes always.
Applies to deceleration and orientation
deceleration.
Orientation Speed List of Constant or Value REAL 0 % of Maximum of orientation speed in
coordinate system configuration or
Degrees/Time Unit.
Orientation Acceleration List of Constant or Value REAL 0 % of Maximum orientation acceleration
in coordinate system configuration or
Degrees/Time Unit2.
Orientation Deceleration List of Constant or Value REAL 0 % of Maximum orientation deceleration
in coordinate system configuration or
Degrees/Tim Unit2.
1
The units mode specifies the units for dynamics parameters of the coordinated
move and not the individual axes. The two selections give an option for the user to
program directly in Coordination Units or % of the maximum configured in the
coordinate system tag. All the primary axes are configured in different user units,
such as mm, inches, and cm, while the orientation axes units are in degrees.
2
Reserved for future use.
Path Data
Interpolation Type
• Point to Point: In this type of motion the end position of the Tool Center
point (TCP) is designated but the path used to reach the end position is
irrelevant. This is generally the quickest way to move the TCP to a
destination position. This type of interpolation will be available only for the
Articulated and SCARA type geometries in future releases.
• Continuous Path Linear: In this type of motion the TCP moves from a
starting position to a commanded end point along a straight line. During
the linear move the orientation of the TCP changes continuously from the
start orientation position to the commanded orientation position.
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