Multi-Axis Coordinated Motion Instructions
424 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Direction
The Direction operand defines the rotational direction of a 2D circular move as
either clockwise or counterclockwise according to the right-hand screw rule. For a
3D circular move the direction is either Shortest or Longest. In both 2D and 3D it
can also indicate if the circular move is to be a full circle.
Speed
The Speed operand defines the maximum vector speed along the path of the
coordinated move.
Speed Units
The Speed Units operand defines the units applied to the Speed operand either
directly in coordinate units or as a percentage of the maximum values defined in
the coordinate system.
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.
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.
Profile
The Profile operand determines whether the coordinated move uses a trapezoidal
or an S-curve velocity profile.
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