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
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o
r Mu
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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
TransitionMode = TMNone and BufferMode = Aborting
The axis moves from End1’ (multi-execution of instruction) to End2.
z
Superimpose Corners (10: TMCornerSuperimpose)
The deceleration of the current instruction is superimposed on the acceleration of the buffered
instruction. Operation is executed in the same amount of time as for the deceleration of the current
instruction, no matter what is specified as the acceleration for the buffered instruction. The superim-
posed area will apply no jerk even if jerk is specified.
The output variable Done , which indicates the end of a motion control instruction, will change to
TRUE for TMCornerSuperimpose when the area of superimposition is completed.
End2
Start1
End1’
Start2
End2
Start1
End1
Time
X coordinate
Operation Pattern for Y Axis Coordinates
Velocity
Operation Pattern for X Axis Coordinates
Multi-execution of instruction
Y coordinate
End1’/ Start2
Velocity
Time
Buffered instruction Current instruction
The deceleration of the current
instruction is superimposed on the
acceleration of the buffered instruction.
Velocity