Omron NY532-1500 Reference Manual page 534

4 Axes Group Instructions
L, Fa0, Fa1, Fa2, and Fa3 can be expressed with the following formulas.
×
Fa0 = F
×
Fa1 = F
×
Fa2 = F
×
Fa3 = F
2
L = La0 + La1
Velocity (Target Velocity)
• An interpolation velocity specification error will occur if Velocity (Target Velocity) is set to 0. All
axes will stop if an axis in the specified axes group is in operation.
• If any of the calculated target velocities Fa0 to Fa3 for Velocity (Target Velocity) exceed the maxi-
mum velocity, the Velocity (Target Velocity) will be automatically adjusted so that one of the axes
operates at the maximum velocity.
Jerk
The relationships between Acceleration (Acceleration Rate), Deceleration (Deceleration Rate), and
Velocity (Target Velocity) when Jerk is set to 0 and when it is set to any other value are shown below.
• Jerk Set to 0
The command value for the velocity is created with acceleration rate At and deceleration rate Dt.
Interpolation velocity
Acceleration rate
Deceleration rate
Vt: Specified interpolation velocity, At: Specified acceleration rate, Dt: Specified deceleration rate.
4-16
La0
L
La1
L
La2
L
La3
L
2 2 2
+ La2 + La3
Vt
At
-Dt
NY-series Motion Control Instructions Reference Manual (W561)
Time
Time