Omron NX701-1 User Manual page 289

• Use rapid acceleration/deceleration.
• Minor fault stop
Version Information
• For a CPU Unit with unit version 1.10 or later, Blending is not changed to Buffered even if you
select Use rapid acceleration/deceleration. (Blending is changed to Buffered.) In this case, the
maximum acceleration/deceleration rate is used and the blending operation is continued.
Also, the axis does not stop with an error even if you select Minor fault stop. Similar to the pre-
vious case, the maximum acceleration/deceleration rate is used and the blending operation is
continued.
• Note that the following restriction applies to CPU Units with unit version 1.09 or earlier.
For blending in multi-axes coordinated control, buffered operation is used if the results of pro-
file processing show that the execution time of the current instruction is less than four control
periods. A Notice of Insufficient Travel Distance to Achieve Blending Transit Velocity observa-
tion will occur.
The above restriction does not apply to CPU Units with unit version 1.10 or later.
 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.
 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.
Cases Resulting in Acceleration
Multi-execution of instruction
Velocity
Cases Resulting in Deceleration
Velocity
NJ/NX-series CPU Unit Motion Control User's Manual (W507)
The transit velocity is the command
velocity of the current instruction
Current instruction Buffered instruction
Multi-execution of instruction
Current instruction Buffered instruction
9 Motion Control Functions
Time
Time
9
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