Multi-Axis Coordinated Motion Instructions
442 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
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
Jerk Units unitspersec
3
%ofmaximum
%oftime
unitspermasternit3
%oftimemasterdriven
0
1
2 (use this value to get started)
4
6
Termination Type No enumeration 0 = Actual Tolerance
1 = No Settle
2 = Command Tolerance
3 = No Decel
4 = Follow Contour Velocity Constrained
5 = Follow Contour Velocity Unconstrained
6 = Command Tolerance Programmed
See Choose a Termination Type in the Related Topics
section below.
Merge disabled
coordinatedmotion
allmotion
0
1
2
Merge Speed programmed
current
0
1
Command Tolerance No enumeration Immediate or Tag
Lock Position No enumeration Immediate, Real, or Tag
Lock Direction None
immediateforwardonly
immediatereverseonly
positionforward
positionreverse
0
1
2
3
4
Event Distance No enumeration Array
Calculated Data No enumeration Array
Coordinate System
The Coordinate System operand specifies the set of motion axes that define the
dimensions of a Cartesian coordinate system. For this release the coordinate
system supports up to three (3) primary axes. Only those axes configured as
primary axes are included in the coordinate velocity calculations.
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