Omron NJ501-1300, Руководство пользователя

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9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
9-
7 Co
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on
Fun
ctio
ns f
o
r Mu
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s
Coo
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Co
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9
9-7-5
Multi-e
x
ecutio
n (Buff
er Mode) of
Motion
Control
In
str
uctions f
or Mu
lti-ax
es Coordinated
Control
z
Blending Low (Low Velocity)
Operation is performed using the target position of the current instruction and the target velocity that
is the slower of the target velocities for the current instruction and buffered instruction.
z
Blending Previous (Previous Velocity)
Operation is performed with the target velocity of the current instruction until the target position of
the current instruction is reached. Operation is performed after acceleration/deceleration to the tar-
get velocity of the buffered instruction once the target position is reached.
Time
Buffered instruction Current instruction
Multi-execution of instruction
Velocity
Cases Resulting in Deceleration
Time
Buffered instruction Current instruction
The transit velocity is the command
velocity of the current instruction
Multi-execution of instruction
Velocity
Cases Resulting in Acceleration