Re-Executing Motion Control Instructions For Multi-Axes Coordinated Control - Omron NX701-1 User Manual

9 Motion Control Functions
Interpolation
velocity
Vt
Acceleration
At
rate
Deceleration
-Dt
rate
Jt
Jerk
-Jt
Vt: Specified interpolation velocity, At: Specified acceleration rate, Dt: Specified deceleration rate, Jt: Specified jerk
9-7-4 Re-executing Motion Control Instructions for Multi-axes
Coordinated Control
If you re-execute a linear interpolation or circular interpolation instruction, an instruction error will occur.
Busy
Active
Done
CommandAborted
Error
ErrorID
Interpolation velocity
You can change the deceleration rate if you re-execute the MC_GroupStop instruction, but you cannot
change the jerk in this way.
If you re-execute the MC_GroupReset instruction, the re-execution command will be ignored and error
reset processing will continue.
For details on re-executing motion control instructions, refer to each instruction in the NJ/NX-series
Motion Control Instructions Reference Manual (Cat. No. W508).
9-64
16#0000
NJ/NX-series CPU Unit Motion Control User's Manual (W507)
Error code
Time
Time
Time
Time