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9 Motion Control Functions
9-36
NJ-series CPU Unit Motion Control User’s Manual (W507)
If you change the target position with re-execution, the operation may change depending on the timing
of the change and the new target position. If the direction of motion reverses due to a change in the tar-
get position, you can choose to decelerate to a stop after a reverse turn or stop immediately after
reversing with the Operation selection at Reversing axis parameter.
z
When a Reverse Turn Does Not Occur for the New Command Value
z
When a Reverse Turn Occurs for the New Command Value
z
Triangular Control Patterns
The triangular control shown in the figure below may result if the travel distance is shortened due to
a change in the target position.
z
Excessive Deceleration Patterns
In the following case, priority is given to stopping at the target position. Therefore, the deceleration
rate will exceed the specified deceleration rate. If the deceleration rate exceeds the rate that is set in
the Maximum Deceleration axis parameter, the operation set in the Acceleration/Deceleration Over
axis parameter setting is performed.
Changing the Target Position
If you re-execute an instruction during triangular
control or during deceleration, acceleration to
the target velocity will occur again. This may
result in a constant velocity.
↑
Executed.
↓
Command re-executed.
Velocity
Re-executing Instruction during
Acceleration/deceleration
↑
Initial
command
position
↑
New
command
position
↑
Initial
command
position
↑
New
command
position
↓
Command re-executed.
↑
Executed.
Velocity
Re-executing Instruction during
Constant-velocity Motion
↑
New command
position
↑
Initial
command
position
If the travel distance upon
reverse turn is small,
triangular control is
performed as it was for
the first execution of the
instruction.
↓
Command re-executed.
↑
Executed.
Velocity
Stopping Immediately after Reverse Turn
↑
New command
position
↓
Initial command position
↓
Command re-executed.
If the instruction is re-executed during
acceleration or deceleration, the axis
stops immediately upon re-execution.
This also occurs during deceleration.
If the travel distance upon reversal
is small, triangular control is
performed as it was for the first
execution of the instruction.
If the instruction is re-executed
during acceleration, the axis
starts deceleration as soon as
the instruction is re-executed.
↑
Executed.
Velocity
Decelerating to a Stop after Reverse Turn
↑
Initial command
position
↑
New command
position
Executed.
↑
↓
Command re-executed.
Velocity
No Reverse Turn
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...