Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 445
Speed Units
The Speed Units operand defines the units applied to the Speed operand either
directly in coordinate units of the specified coordinate system 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 S-curve velocity profile.
The ControlLogix motion controller provides trapezoidal (linear acceleration and
deceleration), and S-curve (controlled jerk) velocity profiles. A guide to the effects
of these motion profiles on various application requirements is given below.
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