Allen-Bradley Studio 5000 Logix Emulate

Multi-Axis Coordinated Motion Instructions
Chapter 6
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 493
The following table shows acceptable combinations of Acceleration Units and
Jerk Units when Speed Units are in Seconds.
Acceleration (Speed in Seconds)
Units per sec
2
(Time Driven
Mode Units)
% Maximum
(Time Driven
Mode Units)
Seconds
(Time Driven Mode
Units)
Units per MasterUnit2
(Master Driven
Mode Units)
Master Units
(Master Driven
Mode Units)
Jerk Units
Units per sec
3
(Time Driven
Mode Units)
Not Implemented Not Implemented Not Implemented
Incompatible combinations of Time and Master Driven
Mode. An error occurs when you verify the routine.
% Maximum
(Time Driven
Mode Units)
Not Implemented Not Implemented Not Implemented
% of Time
(Time Driven
Mode Units)
Not Implemented Not Implemented New Enumeration
Seconds
(Time Driven
Mode Units)
Not Implemented Not Implemented New Enumeration
Units per MasterUnits
3
(Master Driven
Mode Units)
Incompatible combinations of Time and Master Driven Mode. An error
occurs when you verify the routine.
Incompatible combinations of Time and Master Driven
Mode. An error occurs when you verify the routine.
% of Time-Master Driven
(Master Driven
Mode Units)
Master Units
(Master Driven
Mode Units)