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6-13
6 Motion Control Programming
NJ-series CPU Unit Motion Control User’s Manual (W507)
6-4 Ex
ecution a
nd Statu
s of
Motio
n
C
ont
ro
l
Instru
ctio
ns
6
6-4-4 Timing
Char
t f
or Multi-e
x
ecuti
on o
f Motio
n Contro
l Instr
u
ctions
For details on re-executing instructions for the MC Function Module, refer to
and
9-7-4 Re-executing Motion Control Instructions for Multi-axes Coordinated
.
Another instance can be executed for an axis during axis motion. Set the input variable
BufferMode
to
specify when to start operation.
The following figure shows an example in which
BufferMode
(Buffer Mode Selection) is set to aborting
when MC_MoveAbsolute (Absolute Positioning) instructions are executed with multi-execution of
instructions.
“FB1” and “FB2” in the following figure are the instance names of the instructions.
For details on multi-execution of instructions for the MC Function Module, refer to
of Motion Control Instructions (Buffer Mode)
and
9-7-5 Multi-execution (Buffer Mode) of Motion Control
Instructions for Multi-axes Coordinated Control
6-4-4
Timing Chart for Multi-execution of Motion Control Instructions
Busy
Done
CommandAborted
Active
Error
16#0000
ErrorID
Execute
Busy
Done
CommandAborted
Active
Error
16#0000
ErrorID
Execute
FB1
FB2
FB2 travel
distance
FB1 travel
distance
FB1 target velocity
FB2 target velocity
Velocity
Time
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...