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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
Содержание NJ501-1300
Страница 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Страница 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Страница 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Страница 44: ...1 Introduction to the Motion Control Function Module 1 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 58: ...2 Motion Control Configuration and Principles 2 14 NJ series CPU Unit Motion Control User s Manual W507...
Страница 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Страница 98: ...4 Checking Wiring from the Sysmac Studio 4 12 NJ series CPU Unit Motion Control User s Manual W507...
Страница 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Страница 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Страница 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Страница 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Страница 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Страница 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Страница 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Страница 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...