Omron NY532-1500 Reference Manual page 171

You can specify Acceleration (Acceleration Rate), Deceleration (Deceleration Rate) and Jerk as
input variables. When the Velocity (Target Velocity) is 0 and the instruction is executed, the axis will
enter continuous operation without motion.
The following chart shows an operation example of when Velocity (Target Velocity) is 0.
Execute
Busy
Active
InVelocity
CommandAborted
Error
ErrorID
Velocity
Target velocity
When the Acceleration (Acceleration Rate) or Deceleration (Deceleration Rate) is 0 and the instruc-
tion is executed, the axis will reach the target velocity without accelerating or decelerating.
The following chart shows an operation example of when the acceleration rate is 0.
Velocity
Target
velocity
0
Specify Jerk when you want to accelerate or decelerate smoothly. The following chart shows an
operation example when Jerk is specified.
Velocity
Target
velocity
0
For details on Jerk, refer to the NJ/NX-series CPU Unit Motion Control User's Manual (Cat. No.
W507) or NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (Cat. No.
W559).
NY-series Motion Control Instructions Reference Manual (W561)
3 Axis Command Instructions
16#0000
Time
Time
3
Time
3-87