Omron NY532-1500 Reference Manual page 538

4 Axes Group Instructions
Transition Disabled
The path is given priority when creating the velocity command value, so velocity command values of
the axes may change rapidly when switching from one operation to the next.
Operation Example
The Velocity (Target Velocity), BufferMode, and TransitionMode when transitioning from P1 to P2,
and from P2 to P3 are shown below.
• Motion from P1 to P2: Velocity = F, BufferMode = Aborting, TransitionMode = _mcTMNone (Tran-
sition Disabled)
• Motion from P2 to P3: Velocity = F, BufferMode = Blend with next, TransitionMode = _mcTMNone
(Transition Disabled)
• The motion starts from position P1 and goes through position P2. Linear interpolation is per-
formed to position P3.
• The linear interpolation velocity F is maintained when passing position P2. Because of this, the
velocity is discontinuous at position P2 as shown in the following figure.
Velocity of axis A1
Velocity of axis A0
4-20
A1
Interpolation
velocity F
The velocity is
discontinuous.
P1 P2
P3
The velocity is
discontinuous.
A0
NY-series Motion Control Instructions Reference Manual (W561)