Omron NJ501-1300, User Manual

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9-39
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
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Contro
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Patterns Where Deceleration Rate Decreases
The torque command value will change based on the torque ramp specification when you re-execute a
motion control instruction.
This example demonstrates changing the target position from 1000 to 2000 for absolute positioning. In
this example, the variable
Axis1Pos is used as the input parameter to the target position. Specify the
target position to 1000 with the MOV instruction and change Axis1Execute to TRUE to begin position-
ing. Specify the target position to 2000 during operation and change Axis1Execute to TRUE again to
switch to a positioning operation for the new target position of 2000.
Changing the Torque Command
Programming Example for Re-execution
Trapezoidal Control or Triangular Control
No change for re-execution
during deceleration
If the command position is exceeded
at the reduced deceleration rate, a
switch is made to deceleration-
exceed control.
↑
Command position
↑
Executed.
Velocity
Decreased deceleration
rate makes it impossible
to reach target velocity
so a change is made to
triangular control.
↑
Command position
↑
Executed.
↓
Instruction re-executed
Velocity
Deceleration-exceed Control
Axis1PosSet1
Execute
Error
ErrorID
Command Aborted
Axis1MoveAbsolute
Velocity
Done
Busy
Acceleration
MC_MoveAbsolute
Axis Axis
Position
Deceleration
Jerk
Direction
BufferMode
Active
Axis1Execute _MC_AX[0] _MC_AX[0]
Axis1Active
Axis1Pos
Axis1Velo
Axis1Acc
Axis1Dec
Axis1Jerk
0
0
Axis1Done
Axis1Busy
Axis1CA
Axis1Error
Axis1ErrorID
Move Axis1pos 1000
Axis1PosSet2
Move Axis1pos 2000