Omron NY532-1500 Reference Manual page 570

4 Axes Group Instructions
Precautions for Correct Use Precautions for Correct Use
• If 0 is specified for Acceleration (Acceleration Rate), the specified interpolation velocity is used
immediately.
• If 0 is specified for Deceleration (Deceleration Rate), the axis stops immediately. However, if
the Buffer Mode is set to Blending, axis operation will change to the interpolation velocity spec-
ified by the next operation without stopping. For details, refer to BufferMode (Buffer Mode
Selection) on page 4-52.
• When the Acceleration (Acceleration Rate) or Deceleration (Deceleration Rate) is 0, the set-
ting of Jerk is disabled.
CoordSystem (Coordinate System)
• CoordSystem specifies the coordinate system to use for circular interpolation.
• Only an axis coordinate system (ACS) consisting of two or more axes is supported.
BufferMode (Buffer Mode Selection)
• BufferMode specifies how to join the axis motions for this interpolation instruction and the previous
interpolation instruction.
• There are the following six settings.
Buffer Mode Selection
Aborting
Buffered
Blending
Blending low
Blending previous
Blending next
Blending high
For details on BufferMode (Buffer Mode Selection), refer to the NJ/NX-series CPU Unit Motion Con-
trol User's Manual (Cat. No. W507) or NY-series Industrial Panel PC / Industrial Box PC Motion Con-
trol User's Manual (Cat. No. W559).
TransitionMode
• TransitionMode specifies how to join the motions for this interpolation instruction and the previous
interpolation instruction.
• If BufferMode (Buffer Mode Selection) is set to Blending, TransitionMode is enabled.
• An error will occur if you do not set TransitionMode to _mcTMNone (Transition Disabled) when
blending is not used.
For details, refer to TransitionMode on page 4-19.
4-52
Aborts the instruction being executed and switches to this instruction.
If the direction of axis motion is reversed by switching instructions, the motion will
be reversed according to the Operation Selection at Reversing axis parameter.
Buffers this instruction and executes it automatically after the current instruction
is completed.
Starts the buffered instruction at the velocity (transit velocity) at which the current
instruction reaches the target position. The operation of the current instruction is
changed so that the axes reach the target position at the transit velocity. There
are four methods to specify the transit velocity. These are described below. You
can also specify a Transition Mode as an option to the Blending Mode (see
below).
The lower of the target velocities of the current instruction and the buffered
instruction is used as the transit velocity.
The target velocity of the current instruction is used as the transit velocity.
The target velocity of the buffered instruction is used as the transit velocity.
The higher of the target velocities of the current instruction and the buffered
instruction is used as the transit velocity.
NY-series Motion Control Instructions Reference Manual (W561)
Description