Multi-Axis Coordinated Motion Instructions
444 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Move Type
The Move Type operand specifies the method used to indicate the coordinated
move path. The Move Type can be either Absolute or Incremental.
• Absolute - the axes move via a linear path to the position defined by the
position array at the Speed, Accel Rate and Decel Rate as specified by the
operands.
When the axis is configured for rotary operation, an Absolute Move type behaves
in the same manner as for a linear axis. When the axis position exceeds the
Unwind parameter, it is unwound. In this way, axis position is never greater than
the Unwind value nor less than zero.
The sign of the specified position is interpreted by the interpolator and can be
either positive or negative. Negative position values instruct the interpolator to
move the rotary axis in a negative direction to obtain the desired absolute position,
while positive values indicate that positive motion is desired to reach the target
position. When the position value is greater than the unwind value, an error is
generated. The axis never moves through more than one unwind cycle before
stopping at an absolute position.
• Incremental - the coordinate system moves the distance as defined by the
position array at the specified Speed, using the Accel and Decel rates
determined by the respective operands, via a linear path.
The specified distance is interpreted by the interpolator and can be positive or
negative. Negative position values instruct the interpolator to move the axis in a
negative direction, while positive values indicate positive motion is desired to
reach the target position. Motion greater than one unwind cycle is allowed in
Incremental mode.
Position
A one dimensional array, whose dimension is defined to be at least the equivalent
of the number of axes specified in the coordinate system. The Position array
defines either the new absolute or incremental position.
Speed
The Speed operand defines the maximum vector speed along the path of the
coordinated move.
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