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9 Motion Control Functions
9-36
NJ-series CPU Unit Motion Control User’s Manual (W507)
If you change the target position with re-execution, the operation may change depending on the timing
of the change and the new target position. If the direction of motion reverses due to a change in the tar-
get position, you can choose to decelerate to a stop after a reverse turn or stop immediately after
reversing with the Operation selection at Reversing axis parameter.
z
When a Reverse Turn Does Not Occur for the New Command Value
z
When a Reverse Turn Occurs for the New Command Value
z
Triangular Control Patterns
The triangular control shown in the figure below may result if the travel distance is shortened due to
a change in the target position.
z
Excessive Deceleration Patterns
In the following case, priority is given to stopping at the target position. Therefore, the deceleration
rate will exceed the specified deceleration rate. If the deceleration rate exceeds the rate that is set in
the Maximum Deceleration axis parameter, the operation set in the Acceleration/Deceleration Over
axis parameter setting is performed.
Changing the Target Position
If you re-execute an instruction during triangular
control or during deceleration, acceleration to
the target velocity will occur again. This may
result in a constant velocity.
↑
Executed.
↓
Command re-executed.
Velocity
Re-executing Instruction during
Acceleration/deceleration
↑
Initial
command
position
↑
New
command
position
↑
Initial
command
position
↑
New
command
position
↓
Command re-executed.
↑
Executed.
Velocity
Re-executing Instruction during
Constant-velocity Motion
↑
New command
position
↑
Initial
command
position
If the travel distance upon
reverse turn is small,
triangular control is
performed as it was for
the first execution of the
instruction.
↓
Command re-executed.
↑
Executed.
Velocity
Stopping Immediately after Reverse Turn
↑
New command
position
↓
Initial command position
↓
Command re-executed.
If the instruction is re-executed during
acceleration or deceleration, the axis
stops immediately upon re-execution.
This also occurs during deceleration.
If the travel distance upon reversal
is small, triangular control is
performed as it was for the first
execution of the instruction.
If the instruction is re-executed
during acceleration, the axis
starts deceleration as soon as
the instruction is re-executed.
↑
Executed.
Velocity
Decelerating to a Stop after Reverse Turn
↑
Initial command
position
↑
New command
position
Executed.
↑
↓
Command re-executed.
Velocity
No Reverse Turn
Summary of Contents for NJ501-1300
Page 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Page 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Page 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Page 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Page 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Page 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Page 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Page 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Page 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Page 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Page 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Page 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Page 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...