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9-35
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
9-5 Co
mmo
n F
u
n
ctio
n
s f
o
r Sin
g
le-axis Co
ntr
o
l
9
9-5-6
Re-e
x
ecutin
g Motion
Contro
l Instr
uctions
The following example illustrates when positioning is performed towards a target position of
−
20 when
the command current position is 50.
Similarly, the following example illustrates when the ring counter upper limit is 100, the lower limit is
−
70, the command current position is
−
20, and positioning is performed towards a target position of
290.
This section describes how to modify input variables of the same instance of a motion control instruc-
tion during operation of a single axis and re-execute that instruction. The input variables
Position
(Tar-
get Position),
Distance
(Travel Distance),
Velocity
(Target Velocity),
Acceleration
(Acceleration Rate),
Deceleration
(Deceleration Rate), and
Torque
(Target Torque) and sometimes other input variables can
be changed by re-execution. An instruction error will occur if you change an input variable that cannot
be changed and attempt to re-execute the instruction. If you re-execute an instruction that has been
buffered due to multi-execution of instructions, the input variables for the instruction in the buffer will
change.
For details on input variables that can be changed, refer to the
NJ-series Motion Control Instructions
Reference Manual
(Cat. No. W508).
Example for No Direction Specification
9-5-6
Re-executing Motion Control Instructions
0
Moves towards the
ring counter range.
Target position:
−
20
Command current position:
50
Modulo minimum
position setting
value:
−
70
Modulo maximum
position setting
value: 100
Target position:
−
20
0
Performs relative positioning with target distance of (290
(target position)
−
100 (upper limit)) = 190.
Command current
position:
−
20
Modulo minimum
position setting
value:
−
70
Modulo maximum
position setting
value: 100
Position after
positioning:
−
50
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...