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Rate
Jerk Units/sec
Rate
% of time Time
Speed, Accel/Decel, and Jerk % of max
% of units/sec
Rate
For instructions: MAM, MAJ, MCD, and MAS
V20 Speed Units/sec Rate Trapezoidal, S-curve
Sec Time Trapezoidal, S-curve
Master units Feedback Trapezoidal, S-curve
Accel/Decel Units/sec
or Master
Master
Lock Position
222 Rockwell Automation Publication MOTION-UM003D-EN-P - October 2012
Chapter 9 Program
In this figure, we are programming rate. The controller calculates the time of the
move: Speed & Accel/Decel as units = units (seconds).
Figure 7 - Programming Rate in RSLogix 5000 Software Version 19 and Earlier
Speed
Time
Programmed Speed
Decel
Accel
1.25 mm 1.25 mm
47.5 mm
Programmed Distance per Rate
Travel Distance @ speed = Rate
RSLogix 5000 software version 19 and earlier
MAM instruction programmed as rate.
Position 50.0 mm (start 0.0)
Speed 10.0 mm/sec
Accel 40.0 mm/sec