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9 Motion Control Functions
9-54
NJ-series CPU Unit Motion Control User’s Manual (W507)
Multi-axes coordinated control performs control on the path for the interpolation acceleration and inter-
polation deceleration rates. The unit is the same as for single axes, command units/s
2
.
The interpolation acceleration and interpolation deceleration rates used in an actual positioning motion
are specified by the
Acceleration
(Acceleration Rate) and
Deceleration
(Deceleration Rate) input vari-
ables to the motion control instruction.
9-7-2
Acceleration and Deceleration Under Multi-axes Coordinated
Control
Axis Parameters That Are Related to Interpolation Acceleration and
Interpolation Deceleration
Parameter name
Function
Setting range
Default
Maximum Interpolation
Acceleration
Set the maximum interpolation acceleration
for the path. Set 0 for no interpolation accel-
eration limit.
(Unit: command units/s
2
)
Non-negative long
reals
0
Maximum Interpolation
Deceleration
Set the maximum interpolation deceleration
for the path. Set 0 for no interpolation decel-
eration limit.
(Unit: command units/s
2
)
Non-negative long
reals
0
Interpolation Accelera-
tion/Deceleration Over
Set the operation for when the maximum
interpolation acceleration/deceleration rate
would be exceeded after excessive acceler-
ation/deceleration during accelera-
tion/deceleration control of the axes group
because stopping at the target position is
given priority.
0: Use rapid acceleration/deceleration.
(Blending is changed to Buffered.)
1: Use rapid acceleration/deceleration.
2: Minor fault error
0 to 2
0
Interpolation Accelera-
tion Warning Value
Set the percentage of the maximum inter-
polation acceleration at which to output an
interpolation acceleration warning. No inter-
polation acceleration warning is output if 0
is set.
(Unit: %)
0 to 100
0
Interpolation Decelera-
tion Warning Value
Set the percentage of the maximum inter-
polation deceleration rate at which to output
an interpolation deceleration warning. No
interpolation deceleration warning is output
if 0 is set.
(Unit: %)
0 to 100
0
Specifying an Interpolation Acceleration and Interpolation
Deceleration for an Axes Group
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...