Allen-Bradley 1756-M02AS User Manual page 129

motion coordinated instructions
See multi-axis coordinated motion
instructoins
MRP 120
Multi-Axis Coordinated Motion Instructions
107
Introduction 13
MCSR 47
Motion Coordinated Change Dynamics
(MCCD) 9
Motion Coordinated Circular Move (MCCM) 9
Operands Termination Type 39
Operands Termination Type Actual
Tolerance 39
Operands Termination Type Command
Tolerance 39
Operands Termination Type Follow
Contour Velocity Constrained
, ,
39 41 43
Operands Termination Type No Decel
, ,
39 41 43
Operands Termination Type No Settle
, ,
39 41 43
Motion Coordinated Linear Move (MCLM) 9
Operands Termination Type 39
Operands Termination Type Follow
Contour Velocity Unconstrained
, ,
39 41 43
Symmetric Profiles 43
Velocity Profiles 41
Motion Coordinated Shutdown (MCSD) 9
Motion Coordinated Shutdown Reset
(MCSR)
Description 47
Motion Coordinated Stop (MCS) 9
N
Naming a Coordinate System 14
non-linear motion 109
P
, , ,
pending 117 119 121 122
position cam 125
,
pending cam 114 123
point pair 108
, ,
position cam 115 118 123
position cam profile 109
position-lock cams 109
profile 111
R
reciprocating motion 107
reverse only 117
run 111
run cam 112
Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016
salve axis 125
scaling 115
SCARA Delta
configuration parameters 78
establish the reference frame 76
identify the work envelope 78
SCARA Independent
reference frame 84
Selective Compliant Assembly Robot Arm
, ,
configuration parameters 87
41 43
configure 81
, ,
establish reference frame 84
41 43
identify work envelope 86
, , link lengths 88
41 43
Singularity
planning for
slave axis 107
acceleration cam profile 111
execution mode 117
move process 110
position values 109
, ,
41 43
time cam profile 110
slave axis position 123
status bit 118
Studio 5000 Logix Designer application 9
Symmetric Profiles
paths of 43
time cam profile 109
time cam status 122
types of camming 107
Velocity Profiles
of collinear moves 41
triangular 45
,
125
,
125
Index
S
,
86
definition of 83
, ,
111 119
T
,
110
V
129