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9-43
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
9-5 Co
mmo
n F
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ctio
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s f
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r Sin
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le-axis Co
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9
9-5-7
Multi-e
x
ecutio
n of Motion Control In
str
uctions (Buff
er
Mo
de)
The buffered instruction remains in the buffer until the target position of the current instruction is
reached. The buffered instruction is executed after the current instruction’s target position is reached.
However, motion does not stop at this time. Operation transitions to the next instruction at the velocity
specified with the
BufferMode
(Buffer Mode Selection) input variable. For relative travel, the final posi-
tion will be the total of the values for both instructions. For absolute travel, the final position will be the
target position of the second multi-execution instruction. The Acceleration/Deceleration Over axis
parameter is used to select one of the following operations for when the target position would be
exceeded with the values that are set in the Maximum Acceleration and Maximum Deceleration axis
parameters.
•
Use rapid acceleration/deceleration. (Blending is changed to Buffered.)
•
Use rapid acceleration/deceleration.
•
Minor fault stop
An example for an Acceleration/Deceleration Over operation is given below.
In a blending mode you cannot combine single-axis and synchronized control.
Blending
Current instruction
Buffered instruction
Multi-execution of instructions
Velocity
Time
●
Use Rapid Acceleration/Deceleration (Blending Is Changed to Buffered)
Current instruction
Buffered instruction
Multi-execution of instructions
Velocity
Time
●
Use Rapid Acceleration/Deceleration
(Here, BufferMode is set to blend with previous.)
Transit velocity used.
Current instruction
Buffered instruction
Multi-execution of instructions
Velocity
Time
●
Use Rapid Acceleration/Deceleration
(Here, BufferMode is set to blend with next.)
Transit velocity used.
When the current
instruction is completed,
the buffered instruction
is executed.
Stopping at the target position is not
possible for the deceleration rate of
the buffered instruction. Rapid
deceleration is therefore used to
stop at the target position.
The target velocity of the buffered
instruction cannot be reached by
the target position of the current
instruction with the acceleration
rate of the current instruction.
Rapid acceleration is therefore
used to reach the target velocity
at the target position.
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...