Rockwell Automation 1756-HYD02, 1756-M02AE, 1756-M02AS, 1756-M03SE, 1756- M08SE User Manual

...

User Manual

Motion Coordinate System

1756-HYD02, 1756-M02AE, 1756-M02AS, 1756-M03SE, 1756M08SE, 1756-M16SE, 1768-M04SE

Original Instructions

Motion Coordinate System

personal injury or death, property damage, or economic loss.

Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.

IMPORTANT

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.

temperatures.

for Personal Protective Equipment (PPE).

Important User Information

Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.

Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice.

If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss.

Identifies information that is critical for successful application and understanding of the product.

Labels may also be on or inside the equipment to provide specific precautions.

BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous

ARC FLASH HAZARD:

will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and

Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash

2 Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020

Summary of changes

Topic Name

Reason

J1J2J3J6 Coordinate System.

This manual contains new and updated information. Use these reference tables to locate new or changed information.

Grammatical and editorial style changes are not included in this summary.

Global changes

This table contains a list of topics changed in this version, the reason for the change, and a link to the topic that contains the changed information.

New or enhanced features

Configure the SCARA Independent J1J2J3J6 Coordinate System on page 67 Added section to configure a SCARA Indepent

Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020 3

Summary of changes

Create and configure a coordinate system

Cartesian coordinate system

Cartesian coordinate system examples

Preface

Before you begin ......................................................................................... 9

Sample projects ........................................................................................... 9

Additional resources ..................................................................................10

Chapter 1

Create a Coordinate System...................................................................... 11

Coordinate System Properties dialog box ............................................... 13

Edit Coordinate System properties .......................................................... 13

Geometry tab ........................................................................................ 14

Chapter 2

Program coordinate system with no orientation .................................... 17

Blended moves and termination types with MCLM or MCCM .............. 17

Example ladder diagram for blended instructions ........................... 18

Bit States at transition points of blended move by using actual

tolerance or no settle ............................................................................ 19

Bit States at transition points of blended move by using no decel . 20 Bit states at transition points of blended move by using command

tolerance ............................................................................................... 21

Bit states at transition points of blended move by using follow

contour velocity constrained or unconstrained ............................... 22

Choose a termination type ................................................................. 22

Chapter 3

Configure an Articulated Independent robot .......................................... 33

Establish reference frame for an articulated independent robot .......... 33

Methods to establish a reference frame for an articulated independent

robot ............................................................................................................ 35

Method 1 - Establish a reference frame .............................................. 36

Method 2 - Establish a reference frame using a MRP instruction ... 36

Configuration parameters for Articulated Independent robot .............. 37

Link lengths for Articulated Independent robot .............................. 38

Base Offsets .......................................................................................... 39

End-Effector Offsets for Articulated Independent robot ................. 39

Configure Delta robot geometries ........................................................... 40

Configure a Delta Three-dimensional robot ...................................... 41

Establish the reference frame for a Delta Three-dimensional robot

robot..................................................................................................... 42

Calibrate a Delta Three-dimensional robot ...................................... 42

Alternate method for calibrating a Delta Three-dimensional robot 43

Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020 5

Table of Contents

Configure Zero Angle Orientations for Delta Three-dimensional

robot ...................................................................................................... 43

Identify the work envelope for a Delta Three-dimensional robot ....44

Define configuration parameters for a Delta Three-dimensional

robot ...................................................................................................... 45

Configure a Delta Two-dimensional robot ....................................... 46

Establish the reference frame for a Delta Two-dimensional robot .. 47

Calibrate a Delta Two-dimensional robot .......................................... 47

Identify the work envelope for a Delta Two-Dimensional robot ..... 48

Define configuration parameters for a Delta Two-dimensional

robot ..................................................................................................... 48

Configure a SCARA Delta robot ............................................................... 49

Establish the reference frame for a SCARA Delta robot .................. 49

Calibrate a SCARA Delta robot ........................................................... 50

Identify the work envelope for a SCARA Delta robot ....................... 50

Define configuration parameters for a SCARA Delta robot ............. 51

Configure a Delta robot with a Negative X1b offset .......................... 51

Arm solutions ............................................................................................. 52

Left-arm and right-arm solutions for two-axes robots ..................... 53

Solution mirroring for three-dimensional robots ................................... 53

Change the robot arm solution ................................................................. 54

Plan for singularity ..................................................................................... 55

Encounter a no-solution position ............................................................. 55

Error conditions ......................................................................................... 55

Configure an Articulated Dependent robot .............................................56

Reference frame for Articulated Dependent robots ................................56

Methods to establish a reference frame for an articulated independent

robot ........................................................................................................... 58

Method 1 - Establish a reference frame using zero angle

orientation............................................................................................59

Method 2 - Establish a reference frame ............................................. 60

Work envelope for articulated independent robot ................................. 60

Configuration parameters for Articulated Dependent robot ................. 61

Link lengths for Articulated Dependent robot ................................. 62

Base offsets for Articulated Independent robot ............................... 62

Configure a Cartesian Gantry robot ......................................................... 63

Introduction ............................................................................................... 63

Establish the reference frame for a Cartesian Gantry robot ............ 63

Identify the work envelope for a Cartesian Gantry robot ................ 64

Define configuration parameters for a Cartesian Gantry robot ..... 64

6 Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020

Table of Contents

Configure a Cartesian H-bot

Coordinate system attributes

Arm solutions

Index

Chapter 4

Configure a Cartesian H-bot robot ..........................................................65

Establish the reference frame for a Cartesian H-bot ....................... 66

Identify the work envelope for a Cartesian H-bot ............................ 66

Define configuration parameters for a Cartesian H-bot robot ....... 66

Configure a SCARA Independent Robot ................................................. 66

Configure the SCARA Independent J1J2J3J6 Coordinate System ........... 67

Configuration Parameters for the Robot ................................................. 67

Link Lengths for SCARA Independent J1J2J3J6 Robot ...................... 68

Zero Angle Orientations for SCARA Independent J1J2J3J6 Robot ... 68

Ball Screw Coupling for SCARA Independent J1J2J3J6 Robot .......... 70

Robot Configuration for SCARA Independent J1J2J3J6 Robot ......... 74

Robot Configuration in MCPM instruction ................................ 75

Robot Configuration in MCTPO instruction ............................... 75

Robot Configuration Example ...................................................... 76

Identify the Work Envelope for the Robot ........................................ 78

Maximum Joint Limits condition for SCARA Independent J1J2J3J6

robot ...................................................................................................... 79

Configure the Joint Limits ............................................................ 79

Work and Tool Frame offset limits for SCARA Independent J1J2J3J6

robot ...................................................................................................... 79

Sample Project for SCARA Independent J1J2J3J6 Robot .................. 80

Appendix A

Coordinate system attributes ................................................................... 81

Appendix B

Solution mirroring for three-dimensional robots ................................. 87

Change arm solution ................................................................................ 88

Change arm solution example ........................................................... 88

Singularity ................................................................................................. 88

Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020 7

If you want to

Use this instruction

within a Cartesian coordinate system.

Stop the axes of a coordinate system or cancel a transform.

Motion Coordinated Stop (MCS)

Initiate a controlled shutdown of all of the axes of the specified coordinate system.

Motion Coordinated Shutdown (MCSD)

Start a transform that links two coordinate systems together.

Motion Coordinated Transform (MCT)

incorporates translation and orientation in its position transformation.

system.

second coordinate system.

state to the axis ready state and clear the axis faults.

axes within a Cartesian coordinate system.

Before you begin

Sample projects

Preface

This manual provides information on how to configure various coordinated motion applications. Use the following table to choose a motion coordinated instruction. Information about the coordinate instructions can be found in the Logix5000™ Controllers Motion Instruction Reference Manual, publication MOTION-RM002.

Initiate a single or multi-dimensional linear coordinated move for the specified axes

Initiate a two- or three-dimensional circular coordinated move for the specified axes

Initiate a change in path dynamics for coordinate motion active on the specified coordinate system.

Start a transform that links to coordinate systems together. The MCTO instruction

Calculate the position of one coordinate system with respect to another coordinate

Calculate the position of a point in one coordinate system to the equivalent point in a

Initiate a reset of all of the axes of the specified coordinate system from the shutdown

Start a single or multi-dimensional linear coordinated path move (CP) for the specified

(1) Instruction cannot be used with SoftLogix™ controllers.

(2) Instruction only available for Compact GuardLogix 5380, CompactLogix 5380, CompactLogix 5480, ControlLogix 5580, and GuardLogix 5580 controllers.

Motion Coordinated Linear Move (MCLM)

Motion Coordinated Circular Move (MCCM)

Motion Coordinated Change Dynamics (MCCD)

(1)

Motion Coordinated Transform with Orientation (MCTO)

Motion Calculate Transform Position (MCTP)

Motion Coordinated Transform Position with Orientation (MCTPO)

Motion Coordinated Shutdown Reset (MCSR)

Motion Coordinated Path Move (MCPM)

(1)

(2)

This manual is a redesigned manual from publication LOGIX-UM002. A

companion manual is available called the SERCOS and Analog Motion Configuration and Start-Up User Manual, publication MOTION-UM001. For CIP motion configuration information, see the CIP Motion Configuration and Startup User Manual, publication MOTION-UM003. If you have any comments or suggestions, please see the back cover of this manual.

The Rockwell Automation sample project's default location is:

c:\Users\Public\Public Documents\Studio 5000\Sample\ENU\v<current_release>\Rockwell Automation

There is a PDF file name Vendor Sample Projects that explains how to work with the sample projects. Free sample code is available at http://samplecode.rockwellautomation.com/

The Vendor Sample Projects.pdf default location is:

Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020 9

Preface

Sample Projects from the Help menu.

Resource

Description

Logix5000 controller.

publication 1756-RM003

controller.

5580 and GuardLogix 5580 controllers.

CompactLogix™ system.

5000 Logix Designer application.

Safety Reference Manual, publication 1756-RM012

Compact GuardLogix 5380 controllers in Studio 5000 Logix Designer® applications.

4.1

Additional resources

c:\Users\Public\Public Documents\Studio 5000\Sample\ENU\v<current_release>\Third Party Products

Tip: To access the Vendor Sample Projects.pdf file from Logix Designer application, click

These documents contain additional information concerning related

Rockwell Automation products. You can view or download publications at http://literature.rockwellautomation.com

Sercos and Analog Motion Configuration and Startup User Manual, publication MOTION -UM001

>l5k> Controllers Motion Instructions Reference Manual, publication MOTION-RM002

Integrated Motion on the Ethernet/IP Network: Configuration and Startup User Manual, publication MOTION-UM003

Logix5000 Controllers Common Procedures, publication 1756-PM001 Provides detailed and comprehensive information about how to program a

Logix5000 Controllers General Instructions Reference Manual,

Describes how to configure a motion application and to start up your motion solution by using Logix5000 motion modules.

Provides a programmer with details about motion instructions for a Logix-based controller.

Describes how to configure an integrated motion application and to start up your motion solution by using Studio 5000 Logix Designer® application.

Provides a programmer with details about general instructions for a Logix-based

Vendor

Logix5000 Controllers Process and Drives Instructions Reference Manual, publication 1756-RM006.

ControlLogix System User Manual, publication 1756-UM001 Describes the necessary tasks to install, configure, program, and operate a

ControlLogix 5580 and GuardLogix 5580 Controllers User Manual, publication 1756-UM543

CompactLogix 5370 Controllers User Manual, publication 1769-UM021 Describes the necessary tasks to install, configure, program, and operate a

GuardLogix Controllers User Manual, publication 1756-UM020 Describes the GuardLogix®-specific procedures you use to configure, operate, and

GuardLogix 5570 and Compact GuardLogix 5370 Controller Systems Safety Reference Manual, publication 1756-RM099

GuardLogix 5580 and Compact GuardLogix 5380 Controller Systems

Industrial Automation Wiring and Grounding Guidelines, publication 1770-

Product Certifications

www.rockwellautomation.com/global/certification/overview.pa

website,

Provides a programmer with details about process and drives instructions for a Logix-based controller.

ControlLogix® system. Provides complete information on how to install, configure, select I/O modules,

manage communication, develop applications, and troubleshoot the ControlLogix

troubleshoot the controller. Contains detailed requirements for achieving and maintaining SIL 3/PLe with the

GuardLogix 5570 or CompactLogix 5370 controller safety system, using the Studio

Provides information on safety application requirements for GuardLogix 5580 and

Provides general guidelines for installing a Rockwell Automation industrial system.

Provides declarations of conformity, certificates, and other certification details.

10 Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020

Create a Coordinate System

Chapter 1

Create and configure a coordinate system

Use the Coordinate System tag to set the attribute values used by the Multi-

Axis Coordinated Motion instructions in motion applications. Create the Coordinate System tag before executing any of the Multi-Axis Coordinated Motion instructions.

The Coordinate System tag:

• Defines the COORDINATE_SYSTEM data type

• Associates the Coordinate System to a Motion Group

• Associates the axes to the Coordinate System

• Sets the dimension

• Defines the values used by the operands of the Multi-Axis Motion

Instructions

Configuring the Coordinate System tag defines the values for Coordination Units, Maximum Speed, Maximum Acceleration, Maximum Deceleration, Actual Position Tolerance, and Command Position Tolerance.

To create a coordinate system:

1. In the Controller Organizer, right-click the motion group and select New Coordinate System.

Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020 11

Chapter 1 Create and configure a coordinate system

The New Tag dialog box opens.

2. In Name, enter the name of the coordinate system.

3. [optional] In Description, type a description of the coordinate system.

4. In Type, select the type of tag to create. For a coordinate system, the only valid choices are:

• Base - Refers to a normal tag and is the default

• Alias - Refers to a tag that references another tag with the same

definition

5. In Data Type, select COORDINATE_SYSTEM.

6. In External Access, select whether the tag has None, Read/Write, or Read Only access from external applications such as HMIs.

7. Select Constant to prevent executing logic from writing values to the tag. Refer to the online help for more information about the Constant check box.

8. Select Open COORDINATE_SYSTEM to open the Coordinate System Wizard after creating the tag.

Once the tag is created, double-click the coordinate system to open the Coordinate System Properties dialog box to edit the coordinate system tag.

9. Select Create to create the tag.

12 Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020

Wizard/Coordinate System

Description

geometry.

the geometry.

Dynamics

The

tab configures the Vector, Actual and Command Position Tolerance, and Orientation values for a Cartesian

coordinate system.

Tag

The

tab is used to rename the tag, edit the description, and review the

, and

information.

Coordinate System

Chapter 1 Create and configure a coordinate system

See also

Coordinate System Properties dialog box on page 13

Use the Coordinate System Wizard or Coordinate System Properties dialog box to configure the Coordinate System tag. The dialog box contains tabs for

Properties dialog box

Properties tab General The General tab is used to:

• Associate the tag to a Motion Group.

• Select the coordinate system type.

• Select the coordinate definition for the geometry type.

• If applicable, specify the number of dimensions and transform dimensions for the geometry type.

• Enter the associated axis information.

• Select whether to update Actual Position values of the coordinate system automatically during operation.

Geometry The Geometry tab configures key attributes related to non-Cartesian geometry and shows the bitmap of the associated

Offset The Offset tab configures the offsets for the base and end effector. This tab shows the bitmaps for the offsets related to

configuring different facets of the Coordinate System.

Units The Units tab defines the Coordination Units and the Conversion Ratios.

Dynamics

Joints The Joints tab defines the Joints Conversion ratios. Motion Planner The Motion Planner tab enables or disables Master Delay Compensation or Master Position Filter.

Tag

Tag Type, Data Type

Edit Coordinate System

Use the Coordinate System Properties dialog box to modify an existing Coordinate System or configure the Coordinate System.

properties

To edit the Coordinate System properties:

1. In the Controller Organizer, expand the Motion Group folder, and

double-click the Coordinate System, or right-click the Coordinate System and select Properties.

2. Use the tabs in the Coordinate System Properties dialog box to make the appropriate changes. An asterisk appears on the tab to indicate that changes have been made but not implemented.

3. Click Apply to save the changes. To exit without saving any changes, click Cancel.

Scope

Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020 13

See also

Coordinate System Properties dialog box on page 13

Chapter 1 Create and configure a coordinate system

IMPORTANT

Geometry tab

The Geometry tab of the Coordinate System Properties is where you can specify the link lengths and zero angle orientation values for articulated

robotic arms.

The graphic displayed on this tab shows a typical representation of the type of coordinate system you selected on the General tab. Your robot should look similar to the one shown in the graphic, but may be somewhat different depending on your application.

Link Lengths box

The Link Lengths box displays boxes to let you specify a value for the length of each link in an articulated robotic arm (coordinate system). The measurement units for the articulated coordinate system are defined by the measurement units configured for the affiliated Cartesian coordinate system. The two coordinate systems are linked or affiliated with each other by an MCT instruction.

When specifying the link length values, be sure that the values are calculated by using the same measurement units as the linked Cartesian coordinate system. For example, if the manufacturer specifies the robot link lengths by using millimeter units and you want to configure the robot by using inches, then you must convert the millimeter link measurements to inches and enter the values in the appropriate Link Length boxes.

Be sure that the link lengths specified for an articulated coordinate system are in the same measurement units as the affiliated Cartesian coordinate system. Your system will not work properly if you are using different measurement units.

The number of boxes available for configuration in the Link Lengths box is determined by values entered on the General tab for the type of coordinate system, total coordinate system dimensions, and transform dimensions. The link identifiers are L1 and L2 in the corresponding graphic. These boxes are not configurable for a Cartesian coordinate system.

14 Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020

Chapter 1 Create and configure a coordinate system

Zero Angle Orientations box

The Zero Angle Orientation box is the rotational offset of the individual joint axes. If applicable, enter the offset value in degrees for each joint axis. The number of available boxes is determined by the coordinate dimension value entered on the General tab. The angle identifiers are Z1, Z2, and Z3 in the corresponding graphic.

Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020 15

Instruction

Description

axes within a Cartesian coordinate system.

two coordinate systems together.

Program coordinate system

with no orientation

Blended moves and

Chapter 2

Cartesian coordinate system

Use this information to configure a Cartesian coordinate system.

See also

Program coordinate system with no orientation on page 17

Use these multi-axis coordinated motion instructions to perform linear and circular moves in single and multidimensional spaces. A Cartesian coordinate system with no orientation in the Logix Designer application can include one, two, or three axes.

termination types with MCLM or MCCM

Motion Coordinated Linear Move (MCLM) Use the MCLM instruction to start a single or multi-

dimensional linear coordinated move for the specified

Motion Coordinated Circular Move (MCCM) Use the MCCM instruction to initiate a two or three-

dimensional circular coordinated move for the specified

Motion Coordinated Transform (MCT) Use the MCT instruction to start a transform that links

Motion Calculate Transform Position (MCTP) Use the MCTP instruction to calculate the position of a

point in one coordinate system to the equivalent point in a second coordinate system.

See the Logix 5000 Motion Controllers Instructions Reference Manual, publication MOTION-RM002, for more information about the MCLM, MCCM, MCT, and MCTP instructions.

To blend two MCLM or MCCM instructions, start the first one and queue the second one. The tag for the coordinate system gives two bits for queuing instructions.

• MovePendingStatus

• MovePendingQueueFullStatus

For example, the following ladder diagram uses coordinate system cs1 to blend Move1 into Move2.

Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020 17

See also

Example ladder diagram for blended instructions on page 18

Chapter 2 Cartesian coordinate system

When

Then

Example ladder diagram for

If Step = 1, then:

blended instructions

Move1 starts and moves the axes to a position of 5, 0.

and once Move1 is in process, and there is room to queue another move, then:

Step = 2.

If Step = 2, then:

Move1 is already happening.

Move2 goes into the queue and waits for Move1 to complete.

When Move1 is complete:

Move2 moves the axes to a position of 10, 5.

And once Move2 is in process and there is room in the queue:

Step = 3.

When an instruction completes, it is removed from the queue and there is space for another instruction to enter the queue. Both bits always have the same value because you can queue only one pending instruction at a time. If the application requires several instructions to be executed in sequence, the bits are set by using these parameters.

18 Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020

One instruction is active and a second instruction is pending in the queue

• MovePendingStatus bit = 1

• MovePendingQueueFullStatus bit = 1

•

You cannot queue another instruction

When

Then

Bit States at transition

Chapter 2 Cartesian coordinate system

An active instruction completes and leaves the queue

• MovePendingStatus bit = 0

• MovePendingQueueFullStatus bit = 0

•

You can queue another instruction

The termination type operand for the MCLM or MCCM instruction specifies how the currently executing move gets terminated. These illustrations show the states of instruction bits and coordinate system bits that get affected at various transition points (TP).

The termination types are:

• 0 - Actual tolerance

• 1 - No Settle

• 2 - Command Tolerance

• 3 - No Decel

• 4 - Follow Contour Velocity Constrained

• 5 - Follow Contour Velocity Unconstrained

• 6 - Command Tolerance Programmed

See also

points of blended move by using actual tolerance or no settle

linear linear move

Termination types on page 22

This topic lists the bit states at transition points of Blended Move by using Actual Tolerance or No Settle.

Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020 19

This table shows the bit status at the various transition points shown in the preceding graph with termination type of Actual Tolerance or No Settle.

Chapter 2 Cartesian coordinate system

Bit

TP1

TP2

TP3

Move1.IP

T F F

Move1.AC

T F F

Move2.DN

T T T

Move2.IP

T T F

Move2.AC

F T F

Move2.PC

F F T

cs1.MoveTransitionStatus

F F F

Bit

TP1

TP2

TP3

TP4

Move1.IP

T F F

Move2.DN

T T T

Bit States at transition

points of blended move by

Move1.DN T T T

Move1.PC F T T

cs1.MovePendingStatus T F F cs1.MovePendingQueueFullStatus T F F

This lists the bit states at transition points of blended move by using no decel.

using no decel

linear linear move

This table shows the bit status at the various transition points shown in the preceding graph with termination type of No Decel. For No Decel termination type distance-to-go for transition point TP2 is equal to deceleration distance for the Move1 instruction. If Move 1 and Move 2 are collinear, then Move1.PC will be true at TP3, which is the programmed end-point of first move.

20 Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020

Move1.DN T T T T

Move1.AC T F F F Move1.PC F T T T

Bit

TP1

TP2

TP3

TP4

Move2.AC

F T T F Move2.PC

F F F

cs1.MoveTransitionStatus

F T F F cs1.MovePendingStatus

T F F

cs1.MovePendingQueueFullStatus

T F F

Bit

TP1

TP2

TP3

TP4

Move1.DN

T T T

Move1.IP

T F F

Move2.DN

T T T T Move2.IP

T T T

Move2.AC

F T T F Move2.PC

F F F

cs1.MoveTransitionStatus

F T F

Bit states at transition

points of blended move by using command tolerance

linear linear move

Move2.IP T T T F

Chapter 2 Cartesian coordinate system

This lists the bit states at transition points of Blended Move by using Command Tolerance.

Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020 21

This table shows the bit status at the various transition points shown in the preceding graph with termination type of Command Tolerance. For Command Tolerance termination type distance-to-go for transition point TP2 is equal to Command Tolerance for the coordinate system cs1.

Move1.AC T F F F Move1.PC F T T T

cs1.MovePendingStatus T F F F cs1.MovePendingQueueFullStatus T F F F

Chapter 2 Cartesian coordinate system

Bit

TP1

TP2

TP3

Move1.AC

T F F

Move1.PC

F T T

Move2.DN

T T T

Move2.IP

T T F

Move2.AC

F T F

Move2.PC

F F T

cs1.MovePendingStatus

T F F

cs1.MovePendingQueueFullStatus

T F F

Bit states at transition

Choose a termination type

points of blended move by using follow contour velocity constrained or unconstrained

linear circular move

This lists the bit states at transition points of blended move by using follow contour velocity constrained or unconstrained.

This table shows the bits status at the transition points.

Move1.DN T T T Move1.IP T F F

cs1.MoveTransitionStatus F F F

The termination type determines when the instruction is complete. It also determines how the instruction blends its path into the queued MCLM or

MCCM instruction, if there is one.

22 Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020

If you want the axes to (vector speeds)

And you want the instruction to complete

Then use this Termination

Coordinate System.

position.

coordinate system.

To choose a termination type:

Chapter 2 Cartesian coordinate system

stop between moves.

keep the speed constant except between moves.

transition into or out of a circle without stopping.

when

The following occurs:

• Command position equals target position.

• The vector distance between the target

and actual positions is less than or equal to the Actual Position Tolerance of the

The command position equals the target

The command position gets within the Command Position Tolerance of the

The axes get to the point at which they must decelerate at the deceleration rate.

Type

0 - Actual Tolerance

1 - No Settle

2 - Command Tolerance

3 - No Decel

4 - Follow Contour Velocity Constrained

accelerate or decelerate across multiple moves.

use a specified Command Tolerance

The command position gets within the Command Position Tolerance of the coordinate system.

5 - Follow Contour Velocity Unconstrained

6 - Command Tolerance Programmed

Rockwell Automation Publication MOTION-UM002G-EN-P - October 2020 23

Chapter 2 Cartesian coordinate system

Termination Type

Example Path

Description

Otherwise the instruction stays in process.

The Logix Designer application compares

To the

And uses the

For the

50% of each of the lengths of all other move

configured Command

shorter of the two lengths

command Tolerance length used

To make sure that this is the right choice for you:

• Review the tables below.

0 - Actual Tolerance

1 - No Settle

The instruction stays active until both of these happen:

• Command position equals target position.

• The vector distance between the target and

actual positions is less than or equal to the Actual Position Tolerance of the coordinate

system. At that point, the instruction is complete and a queued MCLM or MCCM instruction can start.

Important:

Tolerance to a value that your axes can reach.

Make sure that you set the Actual

The instruction stays active until the command position equals the target position. At that point, the instruction is complete and a queued MCLM or MCCM instruction can start.

2, 6 - Command Tolerance

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

instructions

configured Command Tolerance for the Coordinate System

Tolerance for the Coordinate System

The instruction stays active until the command position gets within the Command Tolerance of the Coordinate System. At that point, the instruction is complete and a queued MCLM or MCCM instruction can start. If you don’t have a queued MCLM or MCCM instruction, the axes stop at the target position.

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

for each individual instruction

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Termination Type

Example Path

Description

Chapter 2 Cartesian coordinate system

3 - No Decel

4 - Follow Contour Velocity Constrained

5 - Follow Contour Velocity Unconstrained

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.

This termination type is similar to the contour velocity constrained. It has these differences:

• Use this termination type to get a triangular velocity profile across several moves. This reduces jerk.

• To avoid position overshoot at the end of the last move, you must calculate the deceleration speed at each transition point during the deceleration-half of the profile.

• You must also calculate the starting speed for each move in the deceleration half of the profile.

Important Considerations

If you stop a move (that is, using an MCS or by changing the speed to zero with an MCCD) during a blend and then resume the move (that is, by reprogramming the move or by using an another MCCD), it will deviate from the path that you would have seen if the move had not been stopped and resumed. The same phenomenon can occur if the move is within the decel point of the start of the blend. In either case, the deviation will most likely be a slight deviation.

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Chapter 2 Cartesian coordinate system

Velocity Profiles for Collinear Moves

Collinear moves are those that lie on the same line in space. Their direction can be the same or opposite. The velocity profiles for collinear moves can be complex. This section provides you with examples and illustrations to help you understand the velocity profiles for collinear moves programmed with MCLM instructions.

Velocity Profiles for Collinear Moves with Termination Type 2 or 6

This illustration shows the velocity profile of two collinear moves using a Command Tolerance (2) termination type. The second MCLM instruction has a lower 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.

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

This illustration shows the velocity profile of two collinear moves 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.

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Chapter 2 Cartesian coordinate system

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

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.

Velocity Profile of Two Collinear Moves When the Second Move has a Lower Velocity than the First Move and Termination Type 3, 4, or 5 is Used

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Chapter 2 Cartesian coordinate system

This illustration shows a velocity profile of two collinear moves. The second MCLM instruction has a higher 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)

The .PC bit is set when the first move reaches its programmed endpoint.

Velocity Profile of Two Collinear Moves When the Second Move has a Higher Velocity than the First Move and Termination Type 3, 4, or 5 is Used

Symmetric Profiles

Profile paths are symmetric for all motion profiles.

Programming the velocity, acceleration, and deceleration values symmetrically in the forward and reverse directions generates the same path from point A to point C in the forward direction, as from point C to point A in the reverse direction.

While this concept is most easily shown in a two-instruction sequence, it applies to instruction sequences of any length provided that they are programmed symmetrically.

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