Omron NJ501-1300, User Manual

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9 Motion Control Functions
9-44
NJ-series CPU Unit Motion Control User’s Manual (W507)
z
Blending Low (Low Velocity)
Operation is performed using the target position of the current instruction and the target velocity that
is the slower of the target velocities for the current instruction and buffered instruction.
z
Blending Previous (Previous Velocity)
Operation is performed with the target velocity of the current instruction until the target position of
the current instruction is reached. Operation is performed after acceleration/deceleration to the tar-
get velocity of the buffered instruction once the target position is reached.
When the Direction of Operation Does Not Change
When the Direction of Operation Changes
z
Blending Next (Next Velocity)
Operation is performed using the target position of the current instruction and the target velocity of
the buffered instruction.
Time
Buffered instruction Current instruction
Multi-execution
of instruction
Velocity
Cases Resulting in Deceleration
Time
Buffered instruction
The transit velocity is
the command velocity of
the current instruction
Current instruction
Multi-execution
of instruction
Velocity
Cases Resulting in Acceleration
Buffered instruction
Time
The transit velocity is the command velocity of the current instruction
Current instruction
Multi-execution of instruction
Velocity