Rockwell Automation GMLC Reference Manual - Manual (Page 279)

Publication GMLC-5.2 - November 1999
242 Motion Blocks
You can change the vector speed of a merged segment by specifying the
desired new speed in an Interpolate Axes block with Merge from Previous
Segment selected. If the specified vector speed of the new segment is less
than the vector speed of the current segment, the axes decelerate to the
new speed at the end of the current segment. Conversely, if the specified
vector speed of the new segment is greater than the vector speed of the
current segment, the axes accelerate to the new speed at the beginning of
the next segment, as shown below.
Wait for Completion
When you select Wait for Completion, the program pauses until the
selected motion finishes and there are no axes faults. When the motion
has finished, the program continues with the next block. If other tasks are
executing (multitasking), the task which contains this block pauses, but
the other tasks continue to execute. In this way, Wait for Completion in
one task does not halt execution of any other tasks or hang the task
dispatcher. When you do not select Wait for Completion, the Interpolate
Axis block merely initiates the selected motion, and the program
continues by executing the subsequent blocks.
Interpolater
Vector Speed
Interpolator
Vector Speed
Time
Time
Segment N Segment N+1