Multi-Axis Coordinated Motion Instructions
400 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Effect of Change to Deceleration
Change Accel Jerk
The Change Accel Jerk operand determines whether or not to change the
acceleration jerk of the coordinated motion profile.
• No - no change is made to the acceleration jerk of the coordinated motion.
• Yes - the acceleration of the coordinated motion is changed by the value
defined in the Accel Jerk Rate and Jerk Units operands.
Accel Jerk
Accel Jerk defines the maximum acceleration jerk for the programmed move. For
more information on calculating Accel Jerk, refer to the Jerk Units below.
Change Decel Jerk
The Change Decel Jerk operand determines whether or not to change the
deceleration jerk of the coordinated motion profile.
• No - no change is made to the deceleration jerk of the coordinated motion.
• Yes - the deceleration of the coordinated motion is changed by the value
defined in the Decel Jerk Rate and Jerk Units operands
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