Returned Calculated Data Parameter

The returned Calculated Data value for Coordinated System Motion instructions is outlined in the table.

Mode	Returned Calculated Data Parameter
Master Driven	The returned Calculated Data parameter is the incremental delta Master position that is needed to make the Slave Coordinate System move from the point at which Slave Coordinate System is locked to the Master and starts moving along the programmed path to the point where distance to go is less than the specified Event Distance. (See Example 3. In example 3, the MSP for all event distances is point P0.) For Blended moves (that is, Termination Type =Command Tolerance or No Decel ) The incremental Master Axis distance needed for the programmed move, in the Slave Coordinate System, to travel from the beginning of the move to the Blend Point. Note that this is where the PC bit of the instruction is set. For all other termination types (that is, non-blended moves) The incremental Master Axis distance needed for programmed move, in the Slave Coordinate System, to travel from the beginning of the move to the programmed endpoint. Note that this is where the PC bit of instruction is set on the instruction moving the slave Another way to represent the Event Distance and the corresponding Calculated Data is on a Velocity versus Time plot as is shown in the following figure: Note that the first plot below is for non-blended moves (TT0/1), the second is for blended (TT2, 3, 6).
Time Driven	The returned data in the Calculated Data parameter is the total time in seconds that is needed to make the Slave Coordinate System move from the move’s start point to a point where distance to go is less than the specified Event Distance. If the specified data in the Event Distance is array element is 0.0, then the time it takes the entire move to complete is returned.

Mode

Master Driven

The returned Calculated Data parameter is the incremental delta Master position that is needed to make the Slave Coordinate System move from the point at which Slave Coordinate System is locked to the Master and starts moving along the programmed path to the point where distance to go is less than the specified Event Distance. (See Example 3. In example 3, the MSP for all event distances is point P0.)

For Blended moves (that is, Termination Type =Command Tolerance or No Decel )

The incremental Master Axis distance needed for the programmed move, in the Slave Coordinate System, to travel from the beginning of the move to the Blend Point. Note that this is where the PC bit of the instruction is set.

For all other termination types (that is, non-blended moves)

The incremental Master Axis distance needed for programmed move, in the Slave Coordinate System, to travel from the beginning of the move to the programmed endpoint. Note that this is where the PC bit of instruction is set on the instruction moving the slave

Another way to represent the Event Distance and the corresponding Calculated Data is on a Velocity versus Time plot as is shown in the following figure: Note that the first plot below is for non-blended moves (TT0/1), the second is for blended (TT2, 3, 6).

Time Driven

The returned data in the Calculated Data parameter is the total time in seconds that is needed to make the Slave Coordinate System move from the move’s start point to a point where distance to go is less than the specified Event Distance. If the specified data in the Event Distance is array element is 0.0, then the time it takes the entire move to complete is returned.

Multi-Axis Coordinated Motion Instructions

Provide Feedback

Have questions or feedback about this documentation? Please submit your feedback here.