Motion Error Codes, faults, and attributes
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 621
Cause
When you use an S-curve profile, jerk determines how fast an axis can change its
acceleration and deceleration.
• When the Motion Axis Jog (MAJ) instruction starts again, the controller
recalculates jerk and builds a new S-curve profile.
• If the Motion Axis Jog (MAJ) instruction uses a lower deceleration, the jerk
is lower. It takes longer at the lower jerk to get deceleration to zero.
• In the meantime, the axis continues past zero speed and moves in the
opposite direction.
The following trends show how the axis stops and starts with a trapezoidal profile
and an S-curve profile.
Stop while decelerating and reduce the deceleration rate
Trapezoidal
The axis speeds back up as soon as you start the jog again.
The lower deceleration does not change the response of the
axis.
S-curve
The jog instruction reduces the deceleration of
the axis. It now takes longer to bring the
deceleration to zero. The speed overshoots zero
and the axis moves in the opposite direction.
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