Omron NY532-1500 Reference Manual page 539

Superimpose Corners
Use the superimpose corners specification when you want make the axes command velocities con-
tinuous.
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 = _mcTM-
CornerSuperimposed (Superimpose Corners)
• The motion starts from position P1 and passes near position P2. Linear interpolation is performed
to position P3.
• To make the axes command velocities continuous, the deceleration range of the previous motion
and the acceleration range of the current motion are combined to create the command velocity.
For this reason, the acceleration time of the current motion is the same as the deceleration time of
the previous motion.
Velocity of axis A1
Velocity of axis A0
The combined path passes near P2.
The distance from P2 to the path is longer when the interpolation velocity is faster or the decelera-
tion rate of the previous instruction is smaller. It is shorter when the interpolation velocity is slower or
the deceleration rate of the previous instruction is larger.
Additional Information
The Jerk settings are disabled in the region with superimposed corners.
NY-series Motion Control Instructions Reference Manual (W561)
A1
The velocity is
continuous.
The path goes
near P2.
P1
P2
4 Axes Group Instructions
P3
The velocity command is
made continuous by
combining the deceleration
range of the previous
motion and the acceleration
range of the current motion.
A0
4
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