Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 427
• If a Command Tolerance value of 100% is used for the last in the sequence
then:
SafetyMargin3 = CUP * MAS
else
SafetyMargin3 = CUP * MAS * .02
• Final SafetyMargin = SafetyMargin1 + SafetyMargin2 + SafetyMargin3
Once a sequence is programmed and verified, it will repeat.
Click the link Choose a Termination Type in the Related Topics section below
for information.
Merge
The merge defines whether or not to turn the motion of all specified axes into a
pure coordinated move. The options are: Merge Disabled, Coordinated Motion,
or All Motion.
• Merge Disabled - Any currently executing single axis motion instructions
involving any axes defined in the specified coordinate system are not
affected by the activation of this instruction, and result in superimposed
motion on the affected axes. An error is flagged if a second instruction is
initiated in the same coordinate system or in another coordinate system
containing any axes in common with the coordinate system that is active.
• Coordinated Motion - Any currently executing coordinated motion
instructions involving the same specified coordinate system are terminated,
and the active motion is blended into the current move at the speed defined
in the merge speed parameter. Any pending coordinated motion
instructions in the specified coordinate system are canceled. Any currently
executing system single axis motion instructions involving any axes defined
in the specified coordinate system are not affected by the activation of this
instruction, and result in superimposed motion on the affected axes.
• All Motion - Any currently executing single axis motion instructions
involving any axes defined in the specified coordinate system and any
currently executing coordinated motion instructions are terminated. The
prior motion is merged into the current move at the speed defined in Merge
Speed parameter. Any pending coordinated move instructions are canceled.
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