Omron NJ501-1300, User Manual

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9-35
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
9-5 Co
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9
9-5-6
Re-e
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ecutin
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Contro
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uctions
The following example illustrates when positioning is performed towards a target position of
−
20 when
the command current position is 50.
Similarly, the following example illustrates when the ring counter upper limit is 100, the lower limit is
−
70, the command current position is
−
20, and positioning is performed towards a target position of
290.
This section describes how to modify input variables of the same instance of a motion control instruc-
tion during operation of a single axis and re-execute that instruction. The input variables
Position (Tar-
get Position), Distance (Travel Distance), Velocity (Target Velocity), Acceleration (Acceleration Rate),
Deceleration (Deceleration Rate), and Torque (Target Torque) and sometimes other input variables can
be changed by re-execution. An instruction error will occur if you change an input variable that cannot
be changed and attempt to re-execute the instruction. If you re-execute an instruction that has been
buffered due to multi-execution of instructions, the input variables for the instruction in the buffer will
change.
For details on input variables that can be changed, refer to the NJ-series Motion Control Instructions
Reference Manual (Cat. No. W508).
Example for No Direction Specification
9-5-6 Re-executing Motion Control Instructions
0
Moves towards the
ring counter range.
Target position:
−
20
Command current position:
50
Modulo minimum
position setting
value:
−
70
Modulo maximum
position setting
value: 100
Target position:
−
20
0
Performs relative positioning with target distance of (290
(target position)
−
100 (upper limit)) = 190.
Command current
position:
−
20
Modulo minimum
position setting
value:
−
70
Modulo maximum
position setting
value: 100
Position after
positioning:
−
50