Allen-Bradley 1756-M02AS User Manual page 42

Chapter 2 Configure a Cartesian Coordinate System
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Figure 4 - Velocity Profile of Two Collinear Moves When the Second Move has a Lower Velocity
than the First Move and Termination Type 2 or 6 is Used
Command Tolerance Point
MCLM1
Position
Figure 5 shows the velocity profile of two collinear moves by using a Command
Tolerance (2) termination type. The second MCLM instruction has a higher
velocity than the first MCLM instruction. When the first MCLM instruction
reaches its Command Tolerance point, the move is over and the .PC bit is set.
Figure 5 - Velocity Profile of Two Collinear Moves When the Second Move has a Higher Velocity
than the First Move and Termination Type 2 or 6 is Used
MCLM1
Position
Velocity Profiles for Collinear Moves with
Termination Types 3, 4, or 5
This illustration shows a velocity profile of two collinear moves. The second
MCLM instruction has a lower velocity than the first MCLM instruction and
one of these termination types are used:
• No Decel (3)
• Follow Contour Velocity Constrained (4)
• Follow Contour Velocity Unconstrained (5)
When the first MCLM instruction reaches the deceleration point, it
decelerates to the programmed velocity of the second move. The first move is
over and the .PC bit is set.
Rockwell Automation Publication MOTION-UM002E-EN-P - June 2016
The .PC bit is set, MCLM1 is over
MCLM2
Programmed endpoint of MCLM1 instruction
MCLM2
The .PC bit is set, MCLM1 is Over
Programmed Endpoint of MCLM1
instruction