Allen-Bradley 1756-HYD02 User Manual page 61

Cartesian coordinate system
Refer to the following Example of a Symmetric Profile for more details.
We recommend that you terminate any sequence of moves by either Termination Type 0 or 1, that is, TT0 or
Important:
TT1.
To guarantee that your trajectory is symmetric, you must terminate any sequence
of moves by either Termination Types 0 or 1. You should also use a Termination
Type of 0 or 1 at the Reversal Point of a profile that moves back on itself.
Using a TT2, TT3, TT4, TT5, ot TT6 as the last move in a profile (or the reversal
point) is safe. However, the resulting trajectory from A to B may not always be the
same as that from B to A. Explicit termination of the sequence of moves helps the
controller to optimize the velocity profile, reduce the CPU load, and guarantee a
symmetric profile.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Chapter 2
61