Omron NY532-1500 Reference Manual page 533

Velocity (Target Velocity), Acceleration (Acceleration Rate), Deceleration
(Deceleration Rate), and Jerk
Set Velocity, Acceleration, Deceleration, and Jerk to specify the interpolation velocity, acceleration
rate, deceleration rate, and jerk for linear interpolation. Linear interpolation separates the interpo-
lated motion into motion on each axis. As an example, the following figure shows linear interpolation
of 2 axes from point A to point B.
Td
Ta
Axis A1 motion
Axis A0 motion
For linear interpolation of four axes, the interpolation velocity and travel distance of each axis determine
the target velocities as shown below.
F: Specified interpolation feeding velocity
Fa0: Interpolation feeding velocity based on expansion of F to axis A0
Fa1: Interpolation feeding velocity based on expansion of F to axis A1
Fa2: Interpolation feeding velocity based on expansion of F to axis A2
Fa3: Interpolation feeding velocity based on expansion of F to axis A3
Ta: Interpolation acceleration time
Td: Interpolation deceleration time
L: Travel distance on the specified path
La0, La1, La2, and La3: Travel distances of axis A0, axis A1, axis A2, and axis A3.
NY-series Motion Control Instructions Reference Manual (W561)
Y
La1
Fa1 F
A
Ta
B
La0
Fa0
Td
4 Axes Group Instructions
X
4
4-15