Omron NJ501-1300, Руководство пользователя

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9-51
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
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Stopping Due to Change in CPU Unit Operating Mode
All axes will decelerate to a stop at their maximum deceleration when the CPU Unit operating mode
changes.
Additional Information
• If you execute the MC_GroupDisable (Disable Axes Group) instruction during axes group
operation, the axes in the group will decelerate to a stop at their maximum deceleration rates.
• If you execute the MC_Stop instruction while an axes group is in operation, an error will occur
for the axes and axes group and the axes group operation will decelerate to a stop with inter-
polation. The interpolation deceleration rate is determined by the deceleration rate that is
specified for the controlling instruction.
• When the input variable Enable to the MC_Power (Servo ON) instruction changes to FALSE
during axes group motion, the MC Function Module immediately stops the command value for
that axis and turns OFF the Servo. When the Servo is turned OFF, the Servo Drive will operate
according to the settings in the Servo Drive. Other axes in that axes group will stop with the
stop method that is set in the Axes Group Stop Method axes group parameter. An error will
occur for the axes group if this happens.
• When RUN mode changes to PROGRAM mode, any motion control instructions for current
motions are aborted. The
CommandAborted output variable from the instructions remain
TRUE and the Servo remains ON.
• If the operating mode returns to RUN mode while a deceleration stop is in progress after the
operating mode changes from RUN to PROGRAM mode, the output variable
Command-
Aborted from the current motion control instructions change to TRUE.
• The save process will continue during a save for the MC_SaveCamTable Instruction.
You can use the MC_GroupSetOverride (Set Group Overrides) instruction to set override factors for
multi-axes coordinated control of the axes group in the current interpolation operation. The velocity
override factor is set as a percentage of the target velocity for interpolation. It can be set between 0%
and 500%. If an override factor of 0% is set for the interpolation target velocity, operating status will con-
tinue with the axis stopped at a velocity of 0. The set override factor is read as long as the overrides are
enabled. If the overrides are disabled, the override factors return to 100%. If the maximum interpolation
velocity is exceeded when an override factor is changed, the maximum interpolation velocity for the
axes group is used.
9-6-5 Overrides for Multi-axes Coordinated Control