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9-39
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
9-5 Co
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Patterns Where Deceleration Rate Decreases
The torque command value will change based on the torque ramp specification when you re-execute a
motion control instruction.
This example demonstrates changing the target position from 1000 to 2000 for absolute positioning. In
this example, the variable
Axis1Pos
is used as the input parameter to the target position. Specify the
target position to 1000 with the MOV instruction and change
Axis1Execute
to TRUE to begin position-
ing. Specify the target position to 2000 during operation and change
Axis1Execute
to TRUE again to
switch to a positioning operation for the new target position of 2000.
Changing the Torque Command
Programming Example for Re-execution
Trapezoidal Control or Triangular Control
No change for re-execution
during deceleration
If the command position is exceeded
at the reduced deceleration rate, a
switch is made to deceleration-
exceed control.
↑
Command position
↑
Executed.
Velocity
Decreased deceleration
rate makes it impossible
to reach target velocity
so a change is made to
triangular control.
↑
Command position
↑
Executed.
↓
Instruction re-executed
Velocity
Deceleration-exceed Control
Axis1PosSet1
Execute
Error
ErrorID
Command Aborted
Axis1MoveAbsolute
Velocity
Done
Busy
Acceleration
MC_MoveAbsolute
Axis
Axis
Position
Deceleration
Jerk
Direction
BufferMode
Active
Axis1Execute
_MC_AX[0]
_MC_AX[0]
Axis1Active
Axis1Pos
Axis1Velo
Axis1Acc
Axis1Dec
Axis1Jerk
0
0
Axis1Done
Axis1Busy
Axis1CA
Axis1Error
Axis1ErrorID
Move Axis1pos 1000
Axis1PosSet2
Move Axis1pos 2000
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...