Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 505
Velocity Profile of Two Collinear Moves When the Second Move has a Lower
Velocity than the First Move and Termination Type 3, 4, or 5 is Used
This illustration shows a velocity profile of two collinear moves. The second
MCLM instruction has a higher velocity than the first MCLM instruction and
one of these termination types are used:
• No Decel (3)
• Follow Contour Velocity Constrained (4)
• Follow Contour Velocity Unconstrained (5)
The .PC bit is set when the first move reaches its programmed endpoint.
Velocity Profile of Two Collinear Moves When the Second Move has a
Higher Velocity than the First Move and Termination Type 3, 4, or 5 is Used
Symmetric Profiles
Profile paths are symmetric for all motion profiles.
Programming the velocity, acceleration, and deceleration values symmetrically in
the forward and reverse directions generates the same path from point A to point
C in the forward direction, as from point C to point A in the reverse direction.
While this concept is most easily shown in a two-instruction sequence, it applies to
instruction sequences of any length provided that they are programmed
symmetrically.
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