Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 519
The returned Calculated Data value for Coordinated System Motion
instructions is outlined in the table.
Mode Returned Calculated Data Parameter
Master Driven The returned Calculated Data parameter is the incremental delta Master position that is needed to make the Slave Coordinate System move from the point at
which Slave Coordinate System is locked to the Master and starts moving along the programmed path to the point where distance to go is less than the
specified Event Distance. (See Example 3 below. In example 3, the MSP for all event distances is point P0.)
• For Blended moves (that is, Termination Type =Command Tolerance or No Decel )
The incremental Master Axis distance needed for the programmed move, in the Slave Coordinate System, to travel from the beginning of the move to the
Blend Point. Note that this is where the PC bit of the instruction is set.
• For all other termination types (that is, non-blended moves)
The incremental Master Axis distance needed for programmed move, in the Slave Coordinate System, to travel from the beginning of the move to the
programmed endpoint. Note that this is where the PC bit of instruction is set on the instruction moving the slave
Another way to represent the Event Distance and the corresponding Calculated Data is on a Velocity versus Time plot as is shown in the following figure:
Note that the first plot below is for non-blended moves (TT0/1), the second is for blended (TT2, 3, 6).
Returned Calculated Data Parameter for
Coordinated System Motion Instruction
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