170 Rockwell Automation Publication 2080-UM002M-EN-E - April 2022
Chapter 8 Motion Control
Axis Start/Stop Velocity
Start/Stop velocity is the initial velocity when an axis starts to move, and the
last velocity before the axis stops moving. Generally, Start/Stop velocity is
configured at some low value, so that it is smaller than most velocity used in
the motion function block.
• When the target velocity is smaller than Start/Stop velocity, move the
axis immediately at the target velocity.
• When the target velocity is NOT smaller than Start/Stop velocity, move
the axis immediately at Start/Stop velocity.
Real Data Resolution
Certain data elements and axis properties use REAL data format (single-
precision floating point format). Real data has seven-digit resolution and digit
values entered by the user that are longer than seven digits are converted. See
the examples in Table 21
.
If the number of digits is greater than seven (7) and the eighth digit is greater
than or equal to 5, then the seventh digit is rounded up. For example:
21474185 rounded to 2.147419E+07
21474186 rounded to 2.147419E+07
If the eighth digit is <5, no rounding is done and the seventh digit remains the
same. For example:
21474181 rounded to 2.147418E+07
Table 21 - REAL Data Conversion Examples
User Value Converted To
0.12345678 0.1234568
1234.1234567 1234.123
12345678 1.234568E+07 (exponential format)
0.000012345678 1.234568E-05 (exponential format)
2147418166 2.147418+E09
-0.12345678 -0.1234568
Table 22 - Examples for Motion Configuration
Parameter
Actual Value
Entered by User
Converted Value in
Connected
Components
Workbench
Tooltip Error Value
(1)
(1) On the axis configuration page in Connected Components Workbench, an input field with a red border indicates that the value
that has been entered is invalid. A tooltip message should let you know the expected range of values for the parameter. The
range of values presented in the tooltip messages are also presented in REAL data format.
Pulses per revolution 8388608
8388608
(no conversion)
Pulse per revolution must be in the
range of 0.0001…8388607 user unit.
Upper Soft Limit 10730175 1.073018E+7
Upper Soft limit must be greater than
Lower Soft Limit. The range is from 0
(exclusive) to 1.073217E+07 user unit.
Lower Soft Limit -10730175 -1.073018E+7
Lower Soft limit must be smaller than
Upper Soft Limit. The range is from -
1.073217E+07...0 (exclusive) user unit.
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