Omron SYSMAC CJ Series, Operation Manual

Page: 19 / 371

Motion control concepts Section 1-3
7
1-3-1-2 Continuous moves
The FORWARD and REVERSE commands can be used to start a continuous
movement with constant speed on a certain axis. The FORWARD command
moves the axis in positive direction and the REVERSE command in negative
direction. For these commands also the axis parameters ACCEL and SPEED
apply to specify the acceleration rate and demand speed.
Both movements can be cancelled by using either the
CANCEL or
RAPIDSTOP command. The CANCEL command cancels the move for one
axis and RAPIDSTOP cancels moves on all axes. The deceleration rate is set
by DECEL .
1-3-2 CP control
Continuous Path control enables to control a specified path between the start
and end position of a movement for one or multiple axes. The CJ1W-MCH72
supports the following operations:
• Linear interpolation
• Circular interpolation
• CAM control.
1-3-2-1 Linear interpolation
Deceleration distance =
Constant speed distance =
Total time =
A
B
3
1
2