Omron NJ501-1300, User Manual, Page: 239 / 432

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9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
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Multi-e
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Motion
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In
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Control
Precautions for Correct Use Precautions for Correct Use
• Up to seven instructions can be buffered at the same time for a single axes group. If multi-exe-
cution is performed for eight or more instructions, an instruction error will occur.
• Multi-execution of multi-axes coordinated control instructions (axes group instructions) is not
possible for axes operating as a single axis. Similarly, multi-execution of single-axis control
instructions is not possible for axes operating under multi-axes coordinated control (axes
group instructions). An instruction error will occur if these rules are broken.
This is the default mode. No buffering is performed in this mode. The current command is aborted and
the new instruction is executed. Multi-execution of motion control instructions that have no
BufferMode
input variable will operate in Aborting Mode. Operation of the multi-execution instruction starts at the
current interpolation velocity when the multi-execution instruction is executed. With Aborting Mode you
cannot combine single-axis control, including synchronized single-axis control and axes group control.
An instruction error will occur at the time of multi-execution if you execute an axes group operation on
an axis currently in a single-axis motion. This will stop both the axes group and the single axis.
Multi-execution for axes groups is done so that the interpolation velocity remains continuous between
instructions. If continuous operation is performed with an instruction with a travel distance of 0, the
velocity changes for the axes will not be continuous.
Aborting
Buffered command
position
Initial command position Executed.
Multi-instruction timing
Multi-execution during Acceleration/Deceleration
Buffered command
position
Initial command position Executed.
Multi-instruction timing
Multi-execution during Constant-velocity Motion