Omron NJ501-1300, User Manual

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9 Motion Control Functions
9-50
NJ-series CPU Unit Motion Control User’s Manual (W507)
Multi-axes coordinated control of axes groups will stop when you execute certain motion control instruc-
tions in the user program or when an error or some other problem occurs.
Use the MC_GroupStop or MC_GroupImmediateStop instruction to stop axes group operation.
z
MC_GroupStop Instruction
For linear interpolation or circular interpolation performed on an axes group, you can decelerate to a
stop along the control path. You specify the deceleration rate and jerk. Specify a deceleration rate of
0 to send a command that immediately stops the Servo Drive. Other operation commands are not
acknowledged while decelerating to a stop for this instruction and while the input variable
Execute is
TRUE.
z
MC_GroupImmediateStop Instruction
You can perform an immediate stop for all axes in the axes group. The immediate stopping method
is determined by the setting of the Immediate Stop Input Stop Method axis parameter for each axis.
The MC_GroupImmediateStop instruction can also be executed for an axes group that is decelerat-
ing to a stop for an MC_GroupStop instruction.
For details, refer to the MC_GroupStop and MC_GroupImmediateStop instructions in the NJ-series
Motion Control Instructions Reference Manual (Cat. No. W508).
z
Stopping for Errors during Axes Group Motion
If an error that results in a deceleration stop occurs for any composition axis in the axes group during
an axes group motion, all of the axes will decelerate to a stop on the interpolation path at the inter-
polation deceleration rate. The interpolation deceleration rate is determined by the deceleration rate
that is specified for the controlling instruction. If an error that results in an immediate stop occurs for
any composition axis in the axes group during an axes group motion, the other axes in the axes
group will stop according to the setting of the Axes Group Stop Method parameter in the axes group
parameters.
You can select one of the following stop methods for axes groups.
• Immediate stop
• Decelerate axes to a stop at maximum deceleration rate of the axes.
• Immediate stop and Servo OFF
z
Stopping Due to Excessively Long Control Period
If motion control processing does not end within two periods, it is considered to be an excessive
control period. Control will be stopped immediately.
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Stopping Due to Start of MC Test Run
All axes will decelerate to a stop at their maximum deceleration if a MC Test Run is started from the
Sysmac Studio.
9-6-4 Stopping Under Multi-axes Coordinated Control
Stopping with Motion Control Instructions
Stopping Due to Errors or Other Problems