Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 491
• If Speed units are Master units, then acceleration, deceleration, and jerk
units must be Master units too.
• All unsupported unit combinations result in an error at runtime when the
instruction is executed.
Jerk enumerations
The following enumerations are defined for time driven and MDSC driven Jerk
units.
Enumeration Description Mode Compatibility Notes
0
1
2
3
Units per sec
3
% Maximum
% of Time
Reserved
Time
Existing Enumeration
Existing Enumeration
Existing Enumeration
Reserved for Time based programming
4
5
6
7
Units per MasterUnit
3
Reserved
% of Time-Master Driven
Reserved
MDSC
New Enumeration
New Enumeration
Reserved for Time based programming
Acceptable combinations of Accel and Decel Units are based on the programmed
Speed Units in the instruction as is shown in the table below. This table is used to
clarify the differences in the following four tables.
Speed Units Accel Units vs Jerk Units Defined in Table:
Units per Sec Table 1
Units per Master Units Table 2
Seconds Table 3
Master Units Table 4
The following table shows acceptable combinations of Acceleration Units and
Jerk Units when Speed Units are Units per Sec.
Acceleration Units (Speed in Units per Second)
Units per sec
2
(Time Driven
Mode Units)
% Maximum
(Time Driven
Mode Units)
Seconds
(Time Driven Mode
Units)
Units per
MasterUnit
2
(Master Driven
Mode Units)
Master Units
(Master Driven
Mode Units)
Jerk Units
Units per sec
3
(Time Driven
Mode Units)
Existing Enumeration. Existing Enumeration. Not Implemented
Incompatible combinations of Time and
Master Driven Mode. A runtime error occurs.
% Maximum
(Time Driven
Mode Units)
Existing Enumeration. Existing Enumeration. Not Implemented
% of Time
(Time Driven
Mode Units)
Existing Enumeration. Existing Enumeration. Not Implemented
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