Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 385
• If the Slave is accelerating at 5 Degrees/MU2 and master is running at
constant speed 2 MU/sec (aM=0), the slave acceleration would be:
5*2*2 = 20 Degrees/Second2.
• If the Slave is accelerating at 5 Degrees/MU2, its instantaneous speed is
3 Degrees/MU and the Master is running at speed 2 MU /sec and
acceleration 4 MU /sec2 then the slave acceleration is: 5*2*2 + 3*4 = 32
Degrees/Second2.
Acceleration Jerk
This parameter specifies the percentage of Time, of the Acceleration that the
MCPM path should use, to compute the acceleration jerk rate of the MCPM path
move. This is always programmed in units of percentage of time.
See Jerk Unit topic below on how to convert percentage of Time to engineering
units.
See Acceleration Jerk topic in MCLM document for more details
Deceleration Jerk
This parameter specifies the percentage of of Time for the Deceleration that the
MCPM path should use to compute the deceleration jerk rate of the MCPM path
move. This is always programmed in units of percentage of time.
See Jerk Units topic below on how to convert percentage of Time to engineering
units.
See Deceleration Jerk topic in MCLM document for more details
Jerk Unit: percentage of time (% of time)
If you want to convert % of Time to engineering units, use these equations.
• For Acceleration jerk calculation in Engineering Units, use this calculation:
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