Multi-Axis Coordinated Motion Instructions
384 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
• Speed is programmed in Coordination Units per Second or
Coordination Units per Master Unit.
• Acceleration and Deceleration in Coordination Units per Seconds
2
or
Coordination Units per second Master Units
2
.
• Orientation Speed is programmed in Degrees per Second or Degrees
per Master Unit.
• Orientation Acceleration and Deceleration in Degrees per Seconds
2
or
Degrees per Master Units
2
Time Units
• Seconds (0): Time units is in seconds
• Master Units (1): In a Master Slave configuration, the
Speed/Acceleration/Deceleration of Master determines the final Primary
and Orientation speed/Acceleration/Deceleration of the MCPM
instruction.
For the example consider that a MDCC establishes a linkage between Master axis
and slave Coordinate system. The Master axis is being moved by an MAM
instruction and an MCPM instruction is executing: The resultant
Speed/Acceleration/Deceleration value can be calculated as shown below.
• Formula for velocity conversion from [Units/Master Units] to
[Units/Seconds]:
V
S
[SU/TU] = V
S
[SU/MU] * VM[MU/TU]
If the Slave is running at 3 Degrees/MU and master is running at 2 MU/sec
then the slave speed is: 3*2 = 6 Degrees/Second.
• Formula for acceleration and deceleration conversion from [Units/Master
Units2] to [Units/Seconds2]:
aS[SU/TU2] = aS[SU/MU2] * VM
2
[MU/TU] + VS[SU/MU] *
aM[MU/TU2]
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