Multi-Axis Coordinated Motion Instructions
398 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Change Accel
The Change Accel operand determines whether or not to change the acceleration
of the coordinated motion profile.
• No - no change is made to the acceleration of the coordinated motion.
• Yes - the acceleration of the coordinated motion is changed by the value
defined in the Accel Rate and Accel Units operands.
Accel Rate
The Accel Rate operand defines the maximum acceleration along the path of the
coordinated move.
Accel Units
The Accel Units operand defines the units applied to the Accel Rate operand
either directly in coordinate units of the specified coordinate system or as a
percentage of the maximum values defined in the coordinate system.
Change Decel
The Change Decel operand determines whether or not to change the deceleration
of the coordinated motion profile.
• No - no change is made to the deceleration of the coordinated motion.
• Yes - the deceleration of the coordinated motion is changed by the value
defined in the Decel Rate and Decel Units operands.
Decel Rate
The Decel Rate operand defines the maximum deceleration along the path of the
coordinated move.
Decel Units
The Decel Units operand defines the units applied to the Decel Rate operand
either directly in coordinate units of the specified coordinate system or as a
percentage of the maximum values defined in the coordinate system.
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