Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 441
Lock Direction UINT32 Immediate 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 Tag 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 Tag 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.
When you enter enumerations for the operand value in structured text, multiple
word enumerations must be entered without spaces. For example: when entering
Decel Units the value should be entered as unitspersec
2
rather than Units per Sec
2
as displayed in the ladder logic.
See Structured Text Syntax for more information on the syntax of expressions
within structured text.
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
Speed No enumeration Immediate or Tag
Speed Units unitspersec
%ofmaximum
unitspermasterunits
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 Unit unitspersec
2
%ofmaximum
unitspermasterunit
2
0
1
4
Profile trapezoidal
s-curve
0
1
To Next Page
Loading...
Need help?
General
