Omron NJ501-1300, Руководство пользователя

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9-53
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
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9-7 Common Functions for Multi-axes
Coordinated Control
This section describes the common functions for multi-axes coordinated control.
To specify the velocity for multi-axes coordinated control, specify the interpolation velocity on the path.
The unit is the same as for single axes, command units/s.
The following is the only type of interpolation velocity for axes groups supported by the MC Function
Module.
The interpolation velocity used in an actual positioning motion is specified by the Velocity (Target Veloc-
ity) input variable to the motion control instruction.
You can read Axes Group Variables from the user program to monitor the interpolation velocity.
9-7-1 Velocity Under Multi-axes Coordinated Control
Types of Velocities
Velocity type Definition
Command interpolation velocity This is the actual value of the command interpolation velocity output by
the MC Function Module to control an axes group.
Axis Parameters That Are Related to Velocities
Parameter name Function Setting range Default
Maximum Interpolation
Velocity Set the maximum interpolation velocity for
the path. Set 0 for no interpolation velocity
limit. If a target velocity that exceeds the
maximum interpolation velocity is specified
for an axes group operation instruction, the
axis will move at the maximum interpolation
velocity. Non-negative long
reals 800,000,000
Interpolation Velocity
Warning Value Set the percentage of the maximum inter-
polation velocity at which to output an inter-
polation velocity warning. No interpolation
velocity warning is output if 0 is set.
(Unit: %) 0 to 100 0
Specifying Target Velocities for Axis Operations
Monitoring Velocities
Variable name Data type Meaning Function
_MC_GRP[0-31].Cmd.Vel LREAL Command Interpo-
lation Velocity This is the current value of the com-
mand interpolation velocity. A plus
sign is added during travel in the pos-
itive direction, and a minus sign is
added during travel in the negative
direction.