Multi-Axis Coordinated Motion Instructions
394 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Inputs
The following table explains the instruction inputs.
Operand Type Format Description
Coordinate System COORDINATE_SYSTEM tag Coordinated group of axes.
Motion Control MOTION_INSTRUCTION tag Structure used to access instruction status
parameters.
Motion Type DINT immediate 1 = Coordinated Move
Change Speed DINT immediate 0 = No
1 =Yes
Speed SINT, INT, DINT, or REAL immediate
tag
[coordinate units]
Speed Units DINT immediate 0 = Units per Sec
1 = % of Maximum
4 = Units per MasterUnit
Change Accel DINT immediate 0 = No
1 = Yes
Accel Rate SINT, INT, DINT, or REAL immediate tag [coordinate units]
Accel Units DINT immediate 0 = Units per Sec
2
1 = % of Maximum
4 = Units per MasterUnit
2
Change Decel DINT immediate 0 = No
1 =Yes
Decel Rate SINT, INT, DINT, or REAL immediate tag [coordinate units]
Decel Units DINT immediate 0 = Units per Sec
2
1 = % of Maximum
4 = Units per MasterUnit
2
Change Accel Jerk DINT immediate 0 = No
1 = Yes
Accel Jerk SINT, INT, DINT, or REAL immediate tag You must always enter a value for the Accel
Jerk operand. This instruction only uses the
value if the Profile is configured as S-curve.
Accel Jerk is the acceleration jerk rate for the
coordinate system.
Use these values to get started.
Accel Jerk = 100 (% of Time)
Jerk Units = 2
Change Decel Jerk DINT immediate 0 = No
1 = Yes
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