Allen-Bradley 1756-HYD02 User Manual page 57

Cartesian coordinate system
The Logix Designer application compares
100% of the configured length of the first instruction
using a Command Tolerance termination type
100% of the configured length of the last move
instruction using a Command Tolerance termination
type
50% of each of the lengths of all other move instructions configured Command Tolerance for
Termination Type
3 - No Decel
4 - Follow Contour Velocity
Constrained
To the
configured Command Tolerance for
the Coordinate System
configured Command Tolerance for
the Coordinate System
the Coordinate System
Example Path
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
And uses the For the
shorter of the two lengths command Tolerance length used for
the first instruction
shorter of the two lengths command Tolerance length used for
the next to last instruction
command Tolerance length used for
shorter of the two lengths
each individual instruction
Description
The instruction stays active until the axes get to the
deceleration point. At that point, the instruction is
complete and a queued MCLM or MCCM instruction can
start.
• The deceleration point depends on whether you use a
trapezoidal or S-curve profile.
• If you don't have a queued MCLM or MCCM instruction,
the axes stop at the target position.
The instruction stays active until the axes get to the target
position. At that point, the instruction is complete and a
queued MCLM or MCCM instruction can start.
• This termination type works best with tangential
transitions. For example, use it to go from a line to a
circle, a circle to a line, or a circle to a circle.
• The axes follow the path.
• The length of the move determines the maximum speed
of the axes. If the moves are long enough, the axes will
not decelerate between moves. If the moves are too
short, the axes decelerate between moves.
Chapter 2
57