Allen-Bradley Studio 5000 Logix Emulate

Chapter 6
Multi-Axis Coordinated Motion Instructions
494 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
The following table shows acceptable combinations of Acceleration Units and
Jerk Units when Speed is in Master Units.
Acceleration (Speed in MasterUnits)
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)
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.
% Maximum
(Time Driven
Mode Units)
% of Time
(Time Driven
Mode Units)
Seconds
(Time Driven
Mode Units)
Units per MasterUnits
3
(Master Driven
Mode Units)
Incompatible combinations of Time and Master Driven Mode. An
error occurs when you verify the routine.
Not Implemented Not Implemented
% of Time-Master Driven
(Master Driven
Mode Units)
Not Implemented New Enumeration.
Master Units
(Master Driven
Mode Units)
Not Implemented New Enumeration.
The returned Calculated Data value for Coordinated System Motion instructions
is outlined in the table.
Returned Calculated Data
Parameter for Coordinated
System Motion Instruction