![background image](http://html1.mh-extra.com/html/omron/nj501-1300/nj501-1300_user-manual_742205237.webp)
9-55
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
9-
7 Co
mm
on
Fun
ctio
ns f
o
r Mu
lti-
ax
e
s
Coo
rdin
a
ted
Co
ntr
o
l
9
9-7-3
Jer
k
f
o
r Multi-ax
es Coo
rdinated Cont
rol
You can read Axes Group Variables in the user program to monitor interpolation acceleration and inter-
polation deceleration rates.
Jerk for multi-axes coordinated control is used to reduce shock on the machine by smoothing the inter-
polation acceleration/deceleration rate along the interpolation path into an S-curve. The unit is the
same as for single axes, command units/s
3
.
The jerk used in an actual interpolation is specified by the
Jerk
input variable to the motion control
instruction.
The acceleration/deceleration rate will change at a constant rate over the range where jerk is specified.
The command interpolation velocity will form a smooth S-curve. A fixed interpolation acceleration rate is
used in areas where the jerk is set to 0. This command interpolation velocity will form a straight line.
Monitoring Interpolation Acceleration and Interpolation Deceleration
Rates
Variable name
Data type
Meaning
Function
_MC_GRP[0-31].Cmd.AccDec
LREAL
Command Interpo-
lation Accelera-
tion/Deceleration
This is the current value of the com-
mand interpolation accelera-
tion/deceleration rate. A plus sign is
added for acceleration, and a minus
sign is added for deceleration.
9-7-3
Jerk for Multi-axes Coordinated Control
Specifying Jerk for Axes Group Motion
Jerk Example (Setting Other than 0)
Vt: Specified interpolation velocity, At: Specified acceleration rate, Dt: Specified deceleration rate, Jt: Specified jerk
Jt
-Jt
Vt
Time
Time
Time
Jerk
Deceleration
rate
Acceleration
rate
Interpolation
velocity
At
-Dt
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...