Omron NJ501-1300, Руководство пользователя

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9 Motion Control Functions
9-54
NJ-series CPU Unit Motion Control User’s Manual (W507)
Multi-axes coordinated control performs control on the path for the interpolation acceleration and inter-
polation deceleration rates. The unit is the same as for single axes, command units/s
2
.
The interpolation acceleration and interpolation deceleration rates used in an actual positioning motion
are specified by the
Acceleration (Acceleration Rate) and Deceleration (Deceleration Rate) input vari-
ables to the motion control instruction.
9-7-2 Acceleration and Deceleration Under Multi-axes Coordinated
Control
Axis Parameters That Are Related to Interpolation Acceleration and
Interpolation Deceleration
Parameter name Function Setting range Default
Maximum Interpolation
Acceleration Set the maximum interpolation acceleration
for the path. Set 0 for no interpolation accel-
eration limit.
(Unit: command units/s
2
)
Non-negative long
reals 0
Maximum Interpolation
Deceleration Set the maximum interpolation deceleration
for the path. Set 0 for no interpolation decel-
eration limit.
(Unit: command units/s
2
)
Non-negative long
reals 0
Interpolation Accelera-
tion/Deceleration Over Set the operation for when the maximum
interpolation acceleration/deceleration rate
would be exceeded after excessive acceler-
ation/deceleration during accelera-
tion/deceleration control of the axes group
because stopping at the target position is
given priority.
0: Use rapid acceleration/deceleration.
(Blending is changed to Buffered.)
1: Use rapid acceleration/deceleration.
2: Minor fault error
0 to 2 0
Interpolation Accelera-
tion Warning Value Set the percentage of the maximum inter-
polation acceleration at which to output an
interpolation acceleration warning. No inter-
polation acceleration warning is output if 0
is set.
(Unit: %) 0 to 100 0
Interpolation Decelera-
tion Warning Value Set the percentage of the maximum inter-
polation deceleration rate at which to output
an interpolation deceleration warning. No
interpolation deceleration warning is output
if 0 is set.
(Unit: %) 0 to 100 0
Specifying an Interpolation Acceleration and Interpolation
Deceleration for an Axes Group