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9 Motion Control Functions
9-60
NJ-series CPU Unit Motion Control User’s Manual (W507)
z
Blending Next (Next Velocity)
Operation is performed using the target position of the current instruction and the target velocity of
the buffered instruction.
z
Blending High (High Velocity)
Operation is performed using the target position of the current instruction and the target velocity that
is the faster of the target velocities for the current instruction and buffered instruction.
Multi-execution of instructions for axes groups may create some shock on the device and/or workpiece
due to changes in the direction of the interpolation path. You can specify the
TransitionMode
input vari-
able to the motion control instruction to select a transition method to use between instructions in order
to lessen this shock. You can choose from the following transition modes in the MC Function Module.
Additional Information
The PLCopen technology specifications define numbers 0 through 9. Number 10 is unique to the
MC Function Module.
Transition Modes
No.
Transition mode
Description
0
Transition disabled
(TMNone)
Do not perform any processing for transitions (default). No
attempt is made to lessen the shock, but this results in a
shorter operation time.
10
Superimpose corners
(TMCornerSuperimpose)
The deceleration of the current instruction is superimposed
on the acceleration of the buffered instruction. You can keep
the linear velocity of the interpolation path constant.
Time
Buffered instruction
Time
Buffered instruction
The transit velocity is the command
velocity of the buffered command
Current instruction
Multi-execution of instruction
Current instruction
Multi-execution of instruction
Velocity
Cases Resulting in Deceleration
Velocity
Cases Resulting in Acceleration
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...