Allen-Bradley 1756 ControlLogix Instruction Manual page 493

Multi-Axis Coordinated Motion Instructions
Units per sec 3
(Time Driven
Mode Units)
% Maximum
(Time Driven
Mode Units)
% of Time
(Time Driven
Mode Units)
Seconds
Jerk Units
(Time Driven
Mode Units)
Units per MasterUnits
(Master Driven
Mode Units)
% of Time-Master Driven
(Master Driven
Mode Units)
Master Units
(Master Driven
Mode Units)
The following table shows acceptable combinations of Acceleration Units and
Jerk Units when Speed Units are in Seconds.
Acceleration (Speed in Seconds)
Units per sec
2
(Time Driven
Mode Units)
Not Implemented
Not Implemented
Not Implemented
Not Implemented
3
Incompatible combinations of Time and Master Driven Mode. An error
occurs when you verify the routine.
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
% Maximum
Seconds
(Time Driven
(Time Driven Mode
Units)
Mode Units)
Not Implemented Not Implemented
Not Implemented Not Implemented
Not Implemented New Enumeration
Not Implemented New Enumeration
Units per MasterUnit2 Master Units
(Master Driven (Master Driven
Mode Units) Mode Units)
Incompatible combinations of Time and Master Driven
Mode. An error occurs when you verify the routine.
Incompatible combinations of Time and Master Driven
Mode. An error occurs when you verify the routine.
Chapter 6
493