Omron NY532-1500 Reference Manual page 359

Master Axis Travel in Negative Direction
Master axis position
Master
following
distance
Slave axis position
Slave axis velocity
The relationship between the travel distance of the master axis and the travel distance of the slave
axis is shown in the following table.
Section
Accelera- Master axis
tion
Slave axis
Constant Master axis
velocity
Slave axis
Decelera- Master axis
tion
Slave axis
When the constant velocity section of the master axis is negative, a constant velocity travel distance
error occurs and the axis stops. If you want to feed the slave axis at the same velocity as the master
axis, set the following value as the travel distance of the slave axis.
Slave axis
travel distance
Precautions for Correct Use Precautions for Correct Use
If the counter mode for the master axis is Rotary Mode, specify a value that is within one ring
counter cycle for MasterDistance (Master Axis Travel Distance).
NY-series Motion Control Instructions Reference Manual (W561)
MasterDistanceInACC
MasterDistanceInDEC
Relationship between the master axis and slave axis travel distances
Master Distance in Acceleration
Slave axis
×
travel
Master distance
distance
in acceleration
2
Master axis travel distance − Master distance in acceleration − Master distance in
deceleration
Slave axis travel distance − Slave axis travel distance at the acceleration rate above
− Slave axis travel distance at the deceleration rate below
Master Distance in Deceleration
Slave axis
×
travel
Master distance
distance
in acceleration
2
Master distance
in acceleration Master axis travel distance
+
=
acceleration − Master distance in deceleration
2
3 Axis Command Instructions
MasterDistance
SlaveDistance
Master distance in acceleration
2
Master axis travel distance − Master distance in
acceleration − Master distance in deceleration
+
Master distance in deceleration
2
Master axis travel distance − Master distance in
+ acceleration − Master distance in deceleration
− Master distance in
Time
Time
Time
Master distance
+
in deceleration
2
Master distance
+ in deceleration
2
Master distance
in deceleration
+
2
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3