78 Rockwell Automation Publication 750-RM100A-EN-P - August 2019
Chapter 9 Reference Motion Planners
Step 5—Monitor Outputs (optional)
Parameters described in the following table are used to monitor the shape and behavior of
the configured move profile. Parameters 10/11:1404 [PTP Reference] and 10/11:1405
[PTP VRef Fwd] apply to all move types, while the remaining parameters apply when
10/11:931 [Ref Move Type] = ‘SineSquared’, ‘Poly5’, or ‘Cubic’.
Typical trajectories moving from rest to rest accelerate to a peak velocity and then
decelerate back to zero. When this occurs, parameter 10/11:1411 [PTP Move Seg] =
‘AccelDecel’. However, when a move profile is initiated while another is in motion, the
new move will start at an initial velocity matching the velocity of the previous move
profile at the point of transition. When the initial velocity is high enough, there may only
be time to perform a velocity dwell and decelerate to the new target. When this occurs,
parameter 10/11:1411 [PTP Move Seg] = ‘DwellDecel’.
Table 28 - PTP Output Parameters
Parameter Description
10/11:1404
[PTP Reference]
Displays the position reference output of the Point to Point Position Planner.
This is the final Point to Point Position Reference.
It becomes the position reference for the Position Regulator.
10/11:1405
[PTP VRef Fwd]
Displays the velocity reference output of the Point to Point Position Planner.
It becomes the velocity reference for the Velocity Regulator.
10/11:1406
[PTP Vel Max]
Displays the maximum velocity of the most recent position reference command.
This value only affects commands that are generated when 10/11:931 [Ref Move Type] =
‘SineSquared’, ‘Poly5’, or ‘Cubic’.
10/11:1407
[PTP Accel Max]
Displays the maximum acceleration of the most recent position reference command.
This value only affects commands that are generated when 10/11:931 [Ref Move Type] =
‘SineSquared’, ‘Poly5’, or ‘Cubic’.
10/11:1408
[PTP Decel Max]
Displays the maximum deceleration of the most recent position reference command.
This value only affects commands that are generated when 10/11:931 [Ref Move Type] =
‘SineSquared’, ‘Poly5’, or ‘Cubic’.
10/11:1409
[PTP Move Time]
Displays the total time required to complete the most recent position reference command.
This value only affects commands that are generated when 10/11:931 [Ref Move Type] =
‘SineSquared’, ‘Poly5’, or ‘Cubic’.
10/11:1410
[PTP Move Status]
Displays the status of the most recent position reference command.
Bit 0: ‘Vel Limited’ – Indicates velocity is limited.
Bit 1: ‘AccelLimited’ – Indicates acceleration is limited.
Bit 2: ‘DecelLimited’ – Indicates deceleration is limited.
Bit 3: ‘Zero Move’ – Indicates that the new command calculated is zero (no move).
Bit 4: ‘Move Failed’ – Indicates that the new command calculation failed. See 10/11:941 [Ref
Fault Config] to select the drive response when this condition is true.
This value only affects commands that are generated when 10/11:931 [Ref Move Type] =
‘SineSquared’, ‘Poly5’, or ‘Cubic’.
10/11:1411
[PTP Move Seg]
Displays the move segment composition (general shape) of the most recent position reference
command.
‘Accel Decel’ (0) – Indicates the command accelerates to a peak velocity with an optional dwell,
followed by decelerating to the specified value.
‘Dwell Decel’ (1) – Indicates the command is composed of a dwell at initial velocity, followed by
decelerating to the specified value.
‘Decel’ (2) – Indicates the command decelerates to the specified value.
‘Reversing’ (3) – Indicates the command decelerates past the specified value, then reverses
direction to the specified value. This condition typically occurs when a command currently in
progress is interrupted late by a new move command.
This value only affects commands that are generated when 10/11:931 [Ref Move Type] =
‘SineSquared’, ‘Poly5’, or ‘Cubic’.
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