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9 Motion Control Functions
9-56
NJ-series CPU Unit Motion Control User’s Manual (W507)
If you re-execute a linear interpolation or circular interpolation instruction, an instruction error will occur.
You can change the deceleration rate if you re-execute the MC_GroupStop instruction, but you cannot
change the jerk in this way.
If you re-execute the MC_GroupReset instruction, the re-execution command will be ignored and error
reset processing will continue.
For details on re-executing motion control instructions, refer to each instruction in the
NJ-series Motion
Control Instructions Reference Manual
(Cat. No. W508).
You can perform multi-execution for multi-axes coordinated control in axes groups the same way as you
can for axis operations. You can perform path control for multiple continuous lines and/or arcs if you use
Buffer Mode under multi-axes coordinated control.
You can set the
BufferMode
input variable to motion control instruction to select one of the same Buffer
Modes as are supported for single-axis operations. There are a total of eight instruction buffers for axes
groups. Each axes group has one buffer for the instruction currently in operation and seven buffers for
multi-execution instructions. Multi-execution of instruction cannot be used from an axis operation
instruction to an axes group operation instruction and vice-versa.
9-7-4
Re-executing Motion Control Instructions for Multi-axes
Coordinated Control
9-7-5
Multi-execution (Buffer Mode) of Motion Control Instructions for
Multi-axes Coordinated Control
Busy
Execute
CommandAborted
Done
Error
ErrorID
Active
16#0000
Time
Error code
Interpolation velocity
(1)
(2)
(3)
(4)
(5)
(6)
(7)
Point A
Point B
Linear interpolation: (1), (3), (5), and (7)
Circular interpolation: (2), (4), and (6)
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...