Omron NY532-1500 Reference Manual page 536

4 Axes Group Instructions
• Short Travel Distance When Jerk Is Not 0
The interpolation velocity will not reach the specified Vt (Target Velocity).
Interpolation velocity
Acceleration rate
Deceleration rate
Jerk
Vt: Specified interpolation velocity, At: Specified acceleration rate, Dt: Specified deceleration rate,
Jt: Specified jerk
Additional Information
• If 0 is specified for Acceleration (Acceleration Rate), the specified Velocity (Target Velocity) is
used immediately.
• If 0 is specified for Deceleration (Deceleration Rate), the axis stops immediately. However, if
the Buffer Mode is set to a blending mode, axis operation will change to the target velocity
specified by the next operation without stopping. For details, refer to BufferMode (Buffer Mode
Selection) on page 4-19.
• When the Acceleration (Acceleration Rate) or Deceleration (Deceleration Rate) is 0, the jerk
setting is disabled.
CoordSystem (Coordinate System)
CoordSystem specifies the coordinate system to use for linear interpolation. Only an axis coordinate
system (ACS) consisting of two or more axes is supported.
4-18
Vt
At
-Dt
Jt
-Jt
NY-series Motion Control Instructions Reference Manual (W561)
Time
Time
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