Rockwell Automation GMLC Reference Manual - Manual (Page 261)

Publication GMLC-5.2 - November 1999
224 Motion Blocks
The vector speed of the selected axes (assuming an orthogonal Cartesian
disposition of axes) is equal to the specified speed in the position units of
the X axis per second or percent of the maximum speed of the X axis. The
speed of each axis is proportional to the distance traveled by the axis
divided by the square root of the sum of the squares of the distances
moved by all axes. Continuing our example above, the actual speed of
Axis 0 is the following percent of the vector speed of the move (the
current 100% speed of Axis 0).
Likewise, the vector acceleration and deceleration (linear) is equal to the
specified acceleration/deceleration in the position units of the X axis per
second
2 or percent of the maximum acceleration of the X axis. The
acceleration and deceleration of each axis is proportional to the distance
traveled by the axis divided by the square root of the sum of the squares of
the distances moved by all axes. The deceleration rate is always the same
as the acceleration rate and cannot be changed while the move is in
progress.
Timed Linear Interpolation
When you select both Linear (from the Type menu) and Time, the
selected axes move the specified distances (in Incremental mode) or to the
specified destination positions (in Absolute mode) in the specified time
(in seconds).
In timed linear interpolation moves, the time and distance values you
input are used to calculate the interpolated move’s speed, acceleration,
and deceleration values. The speed and acceleration/deceleration
parameter values that you input (in the Speed and Acceleration/
Deceleration fields) are used as the maximum values for the interpolated
move. Provided that the calculated acceleration/deceleration value does
not exceed the input acceleration/deceleration maximum value, and the
calculated velocity does not exceed the input speed value, the axes will
move to the commanded position.
( )
( ) ( )
(
)
. . %
10 5
10 5 10 5
5
5 15
0 3162 31 62
2 2 2 2
−
−
+ − −
=
+ −
= =