548 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Important:
Time based planning is not implemented for coordinated moves in Logix
Designer application, version 20. Dynamics in seconds are incompatible
with Merge Speed = Current. This will result in error 94,
MDSC_UNITS_CONFLICT.
Dwells
You have the option to program a dwell by using Time Based Programming in
either Time Driven mode or Master Driven mode. When a zero length move is
programmed, the duration of the dwell is programmed in the Speed parameter and
the Acceleration, Deceleration, and Jerk parameters are ignored.
When in time driven mode, the duration of the dwell is programmed in seconds.
When in MDSC mode, the duration of the dwell is programmed in units of
Master Distance. If speed is specified in Master Units, the move remains active
until the specified Master distance is traversed.
Similarly, when in Time Driven mode, program the move time directly in seconds
and with a zero departure. This results in a programmed delay of the specified
time.
A zero length move that is programmed with a Speed of 0 Seconds or zero Units
per Master Units complete in the minimum time possible, which is 1 coarse
update period.
In MDSC mode, the dwell starts either at the Master Lock Position or
immediately, depending on the programmed Lock Direction parameter, and
continues for a duration as specified in the Speed parameter.
Time Based Programming Errors
There are two time based programming errors:
• AXIS_NOT_AT_REST, Error 100
• MDSC_UNITS_CONFLICT, Error 94
An AXIS_NOT_AT_REST, (Error 100) occurs if a move is programmed by
using Time Based Planning and is started when the active move is at a nonzero
velocity. This means that a move by using Time Based Planning with the Merge
Enabled in an instruction will cause an error for most cases because merge is
typically used when the axes are moving.
MDSC_UNITS_CONFLICT, (Error 94) occurs if speed is programmed in units
of seconds and acceleration, deceleration, or jerk is not programmed in seconds (or
% of Time for jerk).
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