Allen-Bradley Studio 5000 Logix Emulate - Page 419

Multi-Axis Coordinated Motion Instructions
Chapter 6
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 419
Use the entries in this table as a guide when entering structured text operands.
This Operand Has These Options Which You
Enter as Text Or as
Coordinate System No enumeration Tag
Motion Control No enumeration Tag
Move Type No enumeration 0 (Absolute)
1 (Incremental)
Position No enumeration Array Tag
Circle Type No enumeration Tag
0 = Via
1 = Center
2 = Radius
3 = Center Incremental
Via/Center/Radius No enumeration Array Tag (via/center)
Immediate or tag (radius)
Direction No enumeration
2D 3D
0=CW Shortest
1=CW Longest
2=CW Full Shortest Full
Speed No enumeration Immediate or Tag
Speed Units unitspersec
%ofmaximum
unitspermasterunit
0
1
4
Accel Rate No enumeration Immediate or Tag
Accel Units unitspersec
2
%ofmaximum
unitspermasterunit
2
0
1
4
Decel Rate No enumeration Immediate or Tag
Decel Units unitspersec
2
%ofmaximum
unitspermasterunit
2
0
1
4
Profile trapezoidal
s-curve
0
1
Accel Jerk No enumeration Immediate or tag
You must always enter a value for the Accel and Decel Jerk
operands. This instruction only uses the values if the Profile is
configured as S-curve.
Use these values to get started.
Accel Jerk = 100 (% of Time)
Decel Jerk = 100 (% of Time)
Jerk Units = 2
Decel Jerk No enumeration