Multi-Axis Coordinated Motion Instructions
418 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Command Tolerance REAL Immediate Real or Tag The position on a coordinated
move where blending should
start. This parameter is used in
place of Command Tolerance in
the Coordinate System if
Termination Type 6 is used.
Tip: Termination type 2 is
identical to Termination Type 6
except the Command Tolerance
value from the coordinate system
is used and this parameter is
ignored.
Lock Position REAL Immediate or Tag Position on the Master Axis
where a Slave should start
following the master after the
move has been initiated on the
Slave Axis.
See the Structure section below
for more information.
Lock Direction UINT32 Immediate
Real or
Tag
Specifies the conditions when the
Lock Position should be used.
See the Structure section below
for more information.
Event Distance REAL
ARRAY or 0
Array The position(s) on a move
measured from the end of the
move.
See the Structure section below
for more information.
Calculated Data REAL
ARRAY or 0
Array Master Distance(s) (or time)
needed from the beginning of
the move to the Event Distance
point.
See the Structure section below
for more information.
Structured Text
See Structured Text Syntax for more information on the syntax of expressions
within structured text.
When entering enumerations for the operand value in structured text, multiple
word enumerations must be entered without spaces. For example: when entering
Decel Units the value is entered as unitspersec
2
rather than Units per Sec
2
as
displayed in the ladder logic.
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