Create and configure a coordinate system
Chapter 1
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
31
Parameter
Description
Vector Maximum Acceleration Jerk
The maximum acceleration jerk rate of the axis.
The jerk parameters only apply to S-curve profile moves using these instructions:
•
MCS
•
MCCD
•
MCCM
•
MCLM
The Maximum Acceleration Jerk rate of the coordinate system, in Coordination Units/second
3
,
defaults to 100% of the maximum acceleration time. The speed and the acceleration rate for
this calculation are defined as:
MaxAccel
2
/Speed = Maximum Acceleration Jerk
This value 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
3
then the maximum
acceleration jerk 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 will have Jerk limiting. This is the default mode. An S-curve move with 0%
of Time will result in a trapezoidal profile, and have 0% Jerk limiting. If set manually, enter the
value in units=Coordination Units/second
3
units.
Use the
Calculate
button to view this value in terms of units=% of Time.
Vector Maximum Deceleration Jerk
The maximum deceleration jerk rate of the axis.
The jerk parameters only apply to S-curve profile moves using these instructions:
•
MCS
•
MCCD
•
MCCM
•
MCLM
The Maximum Deceleration Jerk rate of the coordinate system, in Coordination Units/second
3
,
defaults to 100% of the maximum deceleration time. The speed and deceleration rate for the
calculation are defined as:
MaxDecel
2
/Speed - Maximum Deceleration Jerk
This value 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
3
then the Max Deceleration
Jerk 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 meaning the entire S-curve
move will have Jerk limiting, which is the default mode. An S-curve move with 0% of Time will
result in a trapezoidal profile, and have 0% Jerk limiting. If set manually, enter the value in
units=Coordination Units/second
3
units.
Use the
Calculate
button to view the value in terms of units=% of Time.
Calculate
Opens the
Calculate Maximum Acceleration/Deceleration Jerk
dialog box to view and set
the Maximum Acceleration or Maximum Deceleration Jerk in terms of the Jerk Units=% of Time.
The
Calculate
button is available only when the software is online with the controller.
Actual
The value in coordination units, for Actual Position to be used by Coordinated Motion
instructions when they have a Termination Type of Actual Tolerance.
Command
The value in coordination units, for Command Position to be used by Coordinated Motion
instructions when they have a Termination Type of Command Tolerance.
Orientation Maximum Speed
The maximum speed of the orientation axes of the coordinate system.
This value is used by the Motion Coordinate Path Move (MCPM) instruction.
Orientation Maximum Acceleration
The maximum acceleration of the orientation axes of the coordinate system.
This value is used by the Motion Coordinate Path Move (MCPM) instruction.
Orientation Maximum Deceleration
The Maximum deceleration of the orientation axes of the coordinate system.
This value is used by the Motion Coordinate Path Move (MCPM) instruction.