Speed, acceleration, deceleration, and jerk enumerations
Speed enumerations
Common enumerations are used for the speed parameter of all motion instructions. Some instructions accept only limited subset of the speed enumerations. Checks for valid unit combinations are done at instruction execution time. Some enumerations that are in the following table are not used now but are reserved for future enhancements. Additional tables are given below that further clarify which combinations are accepted in MDSC mode and which are accepted in Time Driven Mode.
Enumeration | Definition | Mode | Compatibility | Note |
|---|---|---|---|---|
0 1 2 3 | Units per sec % Maximum Reserved Reserved | Time Driven | Existing Enumeration Existing Enumeration New Enumeration | Reserved for Time based programming |
4 5 6 7 | Units per MasterUnit Reserved Reserved Master Units | MDSC | New Enumeration New Enumeration | Reserved for Time based programming |
Follow these rules for Speed to determine allowable Time and MDSC Driven Mode:
- When Speed is in either units/sec, %max, or seconds, then the instruction is considered to be in Time Driven Mode, regardless of the selection of units for acceleration, deceleration, or jerk.
- When Speed is in either Master Units or in Units/MasterUnit, then the instruction is considered to be in Master Driven Mode, regardless of the selection of units for acceleration, deceleration, or jerk.
- Speed, Acceleration, Deceleration, and Jerk must always be programmed in the same mode (Time Driven or Master Driven) or you get a runtime error.
- When speed is specified in time unit seconds, the specified time is the total time of the move, including acceleration and deceleration time.
- When speed is specified in Master distance units, the specified distance is the total master distance of the move, including acceleration and deceleration distance of the Master Axis.
Acceleration and deceleration enumerations
These enumerations are defined for Acceleration and Deceleration Unit parameters for motion instructions.
Enumeration | Description | Mode | Compatibility | Notes |
|---|---|---|---|---|
0 1 2 3 | Units per sec2 % Maximum Reserved Reserved | Time | Existing Enumeration Existing Enumeration | Reserved for Time based programming |
4 5 6 7 | Units per MasterUnit2 Reserved Reserved Reserved | MDSC | New Enumeration | Reserved for Time based programming |
This table shows acceptable combinations of Speed, Acceleration, and Deceleration units.
Acceleration and Deceleration Units | ||||||
|---|---|---|---|---|---|---|
Units per sec 2 (Time Driven Mode Units) | % Maximum (Time Driven Mode Units) | Seconds (Time Driven
Mode Units) | Units per MasterUnit 2 (Master Driven Mode Units) | Master Units (Master Driven Mode Units) | ||
Speed Units | Units per sec (Time Driven
Mode Units) | Existing Enumeration | Existing Enumeration | Not Implemented | Not allowed - Time and Master Driven Units may not be combined. | |
% Maximum (Time Driven
Mode Units) | Existing Enumeration | Existing Enumeration | Not Implemented | |||
Seconds (Time Driven
Mode Units) | Not Implemented | Not Implemented | New Enumeration | |||
Units per MasterUnits (Master Driven
Mode Units) | Not allowed - Time and Master Driven Units may not be combined. | New Enumeration | Not Implemented | |||
Master Units (Master Driven
Mode Units) | Not Implemented | New Enumeration | ||||
These rules for Acceleration and Deceleration must be followed to determine allowable Time and Master Driven Mode:
- Speed, Acceleration, Deceleration, and Jerk must always be programmed in the same mode or you get an error.
- If Speed units are seconds, then acceleration, deceleration, and jerk units must be seconds too.
- If Speed units are Master units, then acceleration, deceleration, and jerk units must be Master units too.
- All unsupported unit combinations result in an error at runtime when the instruction is executed.
Jerk enumerations
The following enumerations are defined for time driven and MDSC driven Jerk units.
Enumeration | Description | Mode | Compatibility | Notes |
|---|---|---|---|---|
0 1 2 3 | Units per sec 3 % Maximum % of Time Reserved | Time | Existing Enumeration Existing Enumeration Existing Enumeration | Reserved for Time based programming |
4 5 6 7 | Units per MasterUnit 3 Reserved % of Time-Master Driven Reserved | MDSC | New Enumeration New Enumeration | Reserved for Time based programming |
Acceptable combinations of Accel and Decel Units are based on the programmed Speed Units in the instruction as is shown in the table below. Use this table to clarify the differences in the following four tables.
Speed Units | Accel Units vs Jerk Units Defined in Table: |
|---|---|
Units per Sec | Table 1 |
Units per Master Units | Table 2 |
Seconds | Table 3 |
Master Units | Table 4 |
This table shows acceptable combinations of Acceleration Units and Jerk Units when Speed Units are Units per Sec.
Acceleration Units (Speed in Units per Second) | ||||
|---|---|---|---|---|
Units per sec 2 (Time Driven Mode Units) | % Maximum (Time Driven Mode Units) | Seconds (Time Driven Mode Units) | Units per MasterUnit 2 (Master Driven Mode Units) | Master Units (Master Driven Mode Units) |
This table shows acceptable combinations of Acceleration Units and Jerk Units when Speed Units are Units per Master Unit.
Acceleration (Speed in Units per Master Unit) | ||||||
Units per sec 2 (Time Driven Mode Units) | % Maximum (Time Driven Mode Units) | Seconds (Time Driven Mode Units) | Units per MasterUnit 2 (Master Driven Mode Units) | Master Units (Master Driven Mode Units) | ||
Jerk Units | Units per sec 3 (Time Driven
Mode Units) | Incompatible combinations of Time and Master Driven Mode. An error occurs when you verify the routine. | Incompatible combinations of Time and Master Driven Mode. An error occurs when you verify the routine. | |||
% Maximum (Time Driven
Mode Units) | ||||||
% of Time (Time Driven
Mode Units) | ||||||
Seconds (Time Driven
Mode Units) | ||||||
Units per MasterUnits 3 (Master Driven
Mode Units) | Incompatible combinations of Time and Master Driven Mode. An error occurs when you verify the routine. | New Enumeration. | Not Implemented | |||
% of Time-Master Driven (Master Driven
Mode Units) | New Enumeration. | Not Implemented | ||||
Master Units (Master Driven
Mode Units) | Not Implemented | Not Implemented | ||||
The following table shows acceptable combinations of Acceleration Units and Jerk Units when Speed Units are in Seconds.
Acceleration (Speed in Seconds) | |||||
Units per sec 2 (Time Driven Mode Units) | % Maximum (Time Driven Mode Units) | Seconds (Time Driven Mode Units) | Units per MasterUnit2 (Master Driven Mode Units) | Master Units (Master Driven Mode Units) | |
This table shows acceptable combinations of Acceleration Units and Jerk Units when Speed is in Master Units.
Acceleration (Speed in MasterUnits) | ||||||
Units per sec 2 (Time Driven Mode Units) | % Maximum (Time Driven Mode Units) | Seconds (Time Driven Mode Units) | Units per MasterUnit 2 (Master Driven Mode Units) | Master Units (Master Driven Mode Units) | ||
Jerk Units | Units per sec 3 (Time Driven
Mode Units) | Incompatible combinations of Time and Master Driven Mode. An error occurs when you verify the routine. | Incompatible combinations of Time and Master Driven Mode. An error occurs when you verify the routine. | |||
% Maximum (Time Driven
Mode Units) | ||||||
% of Time (Time Driven
Mode Units) | ||||||
Seconds (Time Driven
Mode Units) | ||||||
Units per MasterUnits 3 (Master Driven
Mode Units) | Incompatible combinations of Time and Master Driven Mode. An error occurs when you verify the routine. | Not Implemented | Not Implemented | |||
% of Time-Master Driven (Master Driven
Mode Units) | Not Implemented | New Enumeration. | ||||
Master Units (Master Driven
Mode Units) | Not Implemented | New Enumeration. | ||||
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