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9-63
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
9-
7 Co
mm
on
Fun
ctio
ns f
o
r Mu
lti-
ax
e
s
Coo
rdin
a
ted
Co
ntr
o
l
9
9-7-5
Multi-e
x
ecutio
n (Buff
er Mode) of
Motion
Control
In
str
uctions f
or Mu
lti-ax
es Coordinated
Control
TransitionMode = TMNone and BufferMode = Aborting
The axis moves from End1’ (multi-execution of instruction) to End2.
z
Superimpose Corners (10: TMCornerSuperimpose)
The deceleration of the current instruction is superimposed on the acceleration of the buffered
instruction. Operation is executed in the same amount of time as for the deceleration of the current
instruction, no matter what is specified as the acceleration for the buffered instruction. The superim-
posed area will apply no jerk even if jerk is specified.
The output variable
Done
, which indicates the end of a motion control instruction, will change to
TRUE for
TMCornerSuperimpose
when the area of superimposition is completed.
End2
Start1
End1’
Start2
End2
Start1
End1
Time
X coordinate
Operation Pattern for Y Axis Coordinates
Velocity
Operation Pattern for X Axis Coordinates
Multi-execution of instruction
Y coordinate
End1’/ Start2
Velocity
Time
Buffered instruction
Current instruction
The deceleration of the current
instruction is superimposed on the
acceleration of the buffered instruction.
Velocity
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...