Allen-Bradley 1756-M02AS User Manual page 26

Chapter 1 Create and Configure a Coordinate System
26
Table 6 - Dynamics Tab Field Descriptions
Item
Maximum Speed
Maximum Acceleration
Maximum Deceleration
Maximum Acceleration Jerk
Maximum Deceleration Jerk
Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016
Description
Enter the value for Maximum Speed to be used by the Coordinated Motion
instructions in calculating vector speed when speed is expressed as a percent of
maximum.
Enter the value for Maximum Acceleration to be used by the Coordinated Motion
instructions. This value determines the acceleration rate to apply to the
coordinate system vector when acceleration is expressed as a percent of
maximum.
Enter the value for Maximum Deceleration to be used by the Coordinated
Motion instructions to determine the deceleration rate to apply to the
coordinate system vector when deceleration is expressed as a percent of
maximum. The Maximum Deceleration value must be a nonzero value to
achieve any motion by using the coordinate system.
The jerk parameters only apply to S-Curve profile moves by using these
instructions:
• MCS
• MCCD
• MCCM
• MCLM
The Maximum Acceleration Jerk rate of the coordinate system, in Coordination
3
Units/second , defaults to 100% of the maximum acceleration time. The speed
and acceleration rate for this calculation are defined previously.
2
MaxAccel
Speed
The Maximum Accel Jerk value that you enter is used when the motion
instruction is set with Jerk Units=% of Maximum. When a Multi-axis Motion
Instruction has Jerk Units=units per sec
value is derived from the motion instruction faceplate. The jerk units for the
motion instruction also allow for Jerk Units=% of Time, with 100% of Time. This
means that the entire S-Curve move has Jerk limiting. This is the default mode.
An S-Curve move with 0% of Time results in a trapezoidal profile and have 0%
Jerk limiting. If set manually, enter the value in units=Coordination Units/
3
second units. You can also use the Calculate button to view this value in terms
of units=% of Time.
The jerk parameters only apply to S-Curve profile moves by using these
instructions:
• MCS
• MCCD
• MCCM
• MCLM
The Maximum Deceleration Jerk rate of the coordinate system, in Coordination
3
Units/second , defaults to 100% of the maximum deceleration time. The speed
and deceleration rate for the calculation are defined previously.
2
MaxDecel
Speed
The Maximum Decel Jerk value that you enter is used when the motion
instruction is set with Jerk Units=% of Maximum. When a Multi-axis motion
instruction has Jerk Units=units per sec
is derived from the Motion Instruction faceplate. The jerk units for the motion
instruction also allow for Jerk Units=% of Time, with 100% of Time meaning
the entire S-Curve move has Jerk limiting, thus, the default mode. An S-Curve
move with 0% of Time results in a trapezoidal profile and has 0% Jerk limiting. If
set manually, enter the value in units=Coordination Units/second
can also use the optional Calculate button to view the value in terms of units=%
of Time.
= Maximum Acceleration Jerk
3
, then the maximum acceleration jerk
= Maximum Deceleration Jerk
3
, then the Max Deceleration Jerk value
3
units. You